"Enter the first door!"
Translation:Kaingie mlango wa kwanza!
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They are two different uses of the same -ka- morpheme, with different meanings and different constructions.
Nilifika na nikaingi
a mlango wa kwanza: I arrived and (then) entered the first door.
e mlango wa kwanza!: Enter the first door!
In the first sentence it is the so-called narrative tense: I did 'this' and then I did 'this' and then... In the second sentence it is used as an imperative tense (using the subjunctive): this is stronger (and less polite) than just saying Ingia mlango wa kwanza.