salimos a pasear
1. (past tense; first person plural) 
¿Qué hicieron ayer? - Salimos a pasear con los chicos.What did you do yesterday? - We went for a walk with the kids.
El sábado, salimos a pasear por el parque.On Saturday, we took a walk in the park.
c. we went for a drive (on a vehicle) 
Ayer, le entregaron a mi papá su coche nuevo, y salimos a pasear por el campo.Yesterday, my Dad got his new car delivered, and we all went for a drive in the country.
2. (present tense; first person plural) 
Todas las tardes, salimos a pasear y a respirar aire fresco.Every evening, we go for a walk, to breathe fresh air.
Por la mañana, siempre nos levantamos temprano y salimos a pasear por el barrio.In the morning, we always get up early and we take a walk through the neighborhood.
c. we go for a drive (on a vehicle) 
Cuando no tenemos planes, subimos al auto y salimos a pasear.When we don't have any plans, we get on our car and we go for a drive.
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