You do not have to stop to get lords follow you. AI knows where you are so just send word and lords will come, doesn't matter where you are and what you do. Do not expect however all of them to answer your call. Lords do mind sometimes their own businesses. They need to replenish troops, get taxes from fiefs, need to rest or they might think they can do better without you. Also during campaign, lords tend to leave you and other sometimes join over time.
However as marshal, you have right to command anybody around. So you can always pay visit to lord and order him to follow you or whatever you please. If they are not depleted of troops, they will usually obey. So what I usually do is that I send word via one of my companions and start visiting towns to order lords I can find there to follow me. It helps if you do not have too much troops with you as to be able to catch other lords as you meet them on the road. When you see one of your lords to leave your group and head away you can catch him and order him to follow. They like herd of cattle, you have to keep watch over them a little bit.
You should also allow them some time between campaigns to replenish and rest (perhaps 1-3 days). Then they are more willing to follow you.