"Have you guys read that book?"
Just to clarify, 看过 is the verb 看 + 过, which marks an "experience" similar to our use of "have" in English (Have you read that book? ie. Have you ever had the experience of reading that book?).
看 can generally be more related to the eyes, whereas 读 is more related to speaking, ie. reading out loud. If you look at the characters, 看 has the radical 目, or eye, whereas 读 has the radical 言 (which becomes 讠in simplified characters) which can mean speech or speak. Other words with that radical are 话，讲，and 说，which all are related to speaking.
Here are some examples of each:
你可以读一下吗？ Can you read this (out loud) please?
这个字怎么读？ How do you say this character? / How is this character read?
你要继续读书还是开始工作？ Do you want to continue studying or start working?
我在看书。 I'm reading.
你看过这部电影没有？ Have you seen this movie?
小李在看电视。 (Little) Li is watching TV.