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To walk a dog, in English, is simply called "walking the dog." Here are a few other phrases you might find useful:

Taking the dog for a walk: This means the same thing as walking the dog, but it implies that the dog is being taken out for exercise or for some other purpose.
Going for a dog walk: This means the same thing as walking the dog, but it implies that the walk is a leisurely activity rather than a chore.
Letting the dog out: If you keep your dog inside most of the time and only let it out to go to the bathroom or get some exercise, you might say "I'm going to let the dog out." This means that you are going to open the door or gate and allow the dog to go outside.

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