"저는 친구와 걸어요."
Translation:I walk with a friend.
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걷다 is a ㄷ irregular verb. It doesn't follow the basic rule for conjugation. For ㄷ irregular verbs, the ㄷ becomes a ㄹ, and if the last vowel is ㅏ/ㅗ, add 아 to that. Otherwise, add 어.
You can look up how to conjugate basic and irregular verbs if you would like. There are irregular verbs for (ㅂ/ㅅ/ㄹ/ㄷ/르/ㅎ)