  This letter reports measurements which characterize the underlying event
associated with hard scatterings at mid-pseudorapidity ($|\eta|<0.8$) in pp,
p$-$Pb and Pb$-$Pb collisions at centre-of-mass energy per nucleon pair,
$\sqrt{s_{\rm NN}}=5.02$ TeV. The measurements are performed with ALICE at the
LHC. Different multiplicity classes are defined based on the event activity
measured at forward rapidities. The hard scatterings are identified by the
leading particle defined as the charged particle with the largest transverse
momentum ($p_{\rm T}$) in the collision and having $8 < p_{\rm T} < 15$
GeV/$c$. The $p_{\rm T}$ spectra of associated particles ($0.5 \leq p_{\rm
T}<6$ GeV/$c$) are measured in different azimuthal regions defined with respect
to the leading particle direction: toward, transverse, and away. The associated
charged particle yields in the transverse region are subtracted from those of
the away and toward regions. The remaining jet-like yields are reported as a
function of the multiplicity measured in the transverse region. The
measurements show a suppression of the jet-like yield in the away region and an
enhancement of high-$p_{\rm T}$ associated particles in the toward region in
central Pb$-$Pb collisions, as compared to minimum-bias pp collisions. These
observations are consistent with previous measurements that used two-particle
correlations, and with an interpretation in terms of parton energy loss in a
high-density quark gluon plasma. These yield modifications vanish in peripheral
Pb$-$Pb collisions and are not observed in either high-multiplicity pp or
p$-$Pb collisions.
