YOU SAID:

I walked my dog in the park on Friday

INTO JAPANESE

私は金曜日に公園で犬を散歩させました

BACK INTO ENGLISH

I took my dog for a walk in the park on Friday

INTO JAPANESE

金曜日に犬を連れて公園を散歩しました

BACK INTO ENGLISH

I took a walk in the park with my dog on Friday

INTO JAPANESE

金曜日に犬と一緒に公園を散歩しました

BACK INTO ENGLISH

I took a walk in the park with my dog on Friday