YOU SAID:

My dad left for the milk

INTO JAPANESE

パパは牛乳を飲みに行った

BACK INTO ENGLISH

My dad went out for milk.

INTO JAPANESE

父は牛乳を買いに出かけた。

BACK INTO ENGLISH

My father went out to buy milk.

INTO JAPANESE

父は牛乳を買いに出かけた。

BACK INTO ENGLISH

My father went out to buy milk.