In situations like that, what I do is simply leave them there for a bit. By waiting around elsewhere for 24 hours, you cause the game to recalculate where the various NPCs need to be, and followers that get stuck tend to get warped to their 'home' point as long as you've previously dismissed them. I've done this several times when Lydia fell into a hole or got stuck behind a rock (it happens), I just dismiss her, wait 24 hours, go back home to Breezehome and she's waiting there in her seat
