"If I had gone to school, I would have known to read"
Translation:Ningalienda shule ningalijua kusoma
That's indeed what it means in Swahili. kujua kufanya kitu means "know how to do something" ...
"I would have known to read" is, in Swahili, I think ,Ningalijua (kwamba) nisome (I'm not sure if the kwamba is necessary, but I don't think it is) - basically "I wouldn't have known (that) I should read."