The nosotros form will always have an -mos ending: -amos for -ar verbs, -emos for -er verbs, -imos for -ir verbs, and somos for the verb ser.

Cenar = to have dinner

Cenamos juntos en un restaurante.

We are having dinner together in a restaurant.

The a indicates that it will followed by a second verb in the infinitive form.

Vamos a comer y beber.

We are going to eat and drink.

Ver = to see

Vemos a Jaime y el ciego.

We see Jaime and the blind man.