YOU SAID:

Your dad left to get the milk

INTO JAPANESE

あなたのお父さんは牛乳を取りに行ってしまいました

BACK INTO ENGLISH

Your father went to get milk.

INTO JAPANESE

あなたのお父さんは牛乳を買いに行きました。

BACK INTO ENGLISH

Your father went to buy milk.

INTO JAPANESE

あなたのお父さんは牛乳を買いに行きました。

BACK INTO ENGLISH

Your father went to buy milk.