YOU SAID:

ur dad left to get the milk

INTO JAPANESE

お父さんは牛乳を取りに行ってしまいました

BACK INTO ENGLISH

Dad has gone to get milk

INTO JAPANESE

お父さんはミルクを買いに行ってきました

BACK INTO ENGLISH

Dad went to buy milk

INTO JAPANESE

お父さんは牛乳を買いに行きました

BACK INTO ENGLISH

Dad went to buy milk