We use come to talk about movements to the place where the speaker or the listener is.
‘John, will you come here.’ ‘I’m coming.’ (NOT I am going.) (Here we are talking about movement to the place where the speaker / listener is.)
We came to live here in 1990. (NOT We went to live here in 1990.)
We use go for movements to other places.
I want to go and live in the woods. (NOT I want to come and live in the woods.)
We went to the park yesterday. (NOT We came to the park yesterday.)
We went to see Alice and James. (NOT We came to see Alice and James.)(Here we are talking about movements to places where neither the speaker nor the listener were.)
Come with
Come with can be used to talk about joining a movement of the speaker’s or listener’s.
We are going to the park. Would you like to come with us? (NOT Would you like to go with us?)
May I come with you? (NOT May I go with you?)
Come to
Come to can mean arrive at.
Come from is used to say where people’s homes are or were.
She comes from England.