"I and Daniel are talking him to the park"
"Daniel and I are talking him to the park"
I and Daniel no matter what order are both subjects and him object, so why does it matter what order the subject is in?
It's not grammatically wrong. It's considered more polite to put yourself second.
However, you should consider sentences like
I and Daniel made a lot of mistakes on this project
to be exceptions to this rule. Here, it's probably more polite to put yourself first.