YOU SAID:

i took my dog to the dog park and walked

INTO JAPANESE

私は犬をドッグパークに連れて行き、歩いた

BACK INTO ENGLISH

I took my dog to the dog park and walked

INTO JAPANESE

愛犬をドッグパークに連れて行き、散歩しました

BACK INTO ENGLISH

I took my dog to the dog park for a walk

INTO JAPANESE

愛犬をドッグパークに散歩に連れて行った

BACK INTO ENGLISH

I took my dog for a walk at the dog park

INTO JAPANESE

ドッグパークで犬を散歩に連れて行った

BACK INTO ENGLISH

I took my dog for a walk at the dog park