YOU SAID:

I drove my car yesterday to the shop to buy underwear.

INTO JAPANESE

私は昨日車を運転して下着を買いに店に行きました。

BACK INTO ENGLISH

I drove a car yesterday and went to the store to buy underwear.

INTO JAPANESE

昨日車を運転して下着を買いに店に行った。

BACK INTO ENGLISH

I drove a car yesterday and went to the store to buy underwear.