No, you can't move caterpillar followers via event commands.
What you can do is improvise. Every caterpillar script has a way for you to turn it off (if you're using mine for VX, by default it's game switch 2 but you can set that to anything you want). Turn the caterpillar off and have some dummy events ready that you can position where they were and set a switch that turns those events on. Naturally those events will contain the charsets of your followers (if your followers weren't fixed, you can still use conditional branch to determine who to show in each dummy event). Do all the movement you need (I assume this is for a cut-scene), then when you're done, fade the screen, turn the dummy events off, turn the caterpillar back on.