Regular verbs are divided into 3 categories based on their ending: -ar, -er and -ir. We are going to use cantar (to sing), comer (to eat) and abrir (to open) as models.
Yo
Tú
Él / Ella / Usted
Nosotros / Nosotras
[Vosotros / Vosotras]
Ellos / Ellas / Ustedes
Canté
Cantaste
Cantó
Cantamos
[Cantasteis]
Cantaron
Comí
Comiste
Comió
Comimos
[Comisteis]
Comieron
Abrí
Abriste
Abrió
Abrimos
[Abristeis]
Abrieron
Notice how -ER and -IR verbs have the same endings in this tense. Also, note how the first person plural (nosotros) is identical to the present tense conjugation for -ar and -ir verbs.
Ayer comí pizza en Franky’s. (Yesterday I ate pizza at Franky’s.)
El lunes por la noche bailé en un club de salsa. (On Monday night I danced at a salsa club.)
El catorce de junio caminé mucho. (On June 14th I walked a lot.)
El viernes pasado a las cinco llamé a mi hermano. (Last Friday at five I called my brother.)
Here is a list of common regular verbs.