YOU SAID:

my dad left me to get some milk

INTO JAPANESE

父はミルクを買いに私を置いていきました

BACK INTO ENGLISH

my father left me to buy milk

INTO JAPANESE

父は私に牛乳を買いに行ってもらいました

BACK INTO ENGLISH

my father took me to buy milk

INTO JAPANESE

父が私を牛乳を買いに連れて行ってくれました

BACK INTO ENGLISH

my father took me to buy milk