YOU SAID:

I took my cat on a walk to the park and took a nap there

INTO JAPANESE

猫を公園に散歩に連れて行き、そこで昼寝をしました

BACK INTO ENGLISH

I took my cat for a walk in the park and took a nap there.

INTO JAPANESE

私は猫を公園に散歩に連れて行き、そこで昼寝をしました。

BACK INTO ENGLISH

I took my cat for a walk in the park and took a nap there.