The second action explains the purpose of the first action. The verb expressing the first action is usually either 来 lái ‘come’ or 去 qù ‘go’ (as in the first example under A):
Péng yǒu men lái wǒ jiā kàn wàng wǒ 。
My friends came to my house to visit me.
(The second action, 看望 kàn wàng ‘visit’, explains the purpose of the first action: 来我家 lái wǒ jiā ‘came to my place’.)
Wǒ men quán jiā qù hǎi biān dù jià。
The whole family went to the seaside on holiday/to take a holiday.
More colloquially, 来 lái ‘come’ and 去 qù ‘go’ may be placed at the end of
Tā shàng jiē qù mǎi cài le。
Tā shàng jiē mǎi cài qù le。
He has gone out to buy some food.
Tā dào tú shū guǎn qù hái shū le。
Tā dào tú shū guǎn hái shū qù le 。
She has gone to the library to return her books.
Gōng rén lái xiū lǐ shuǐ lóng tóu le 。
Gōng rén xiū lǐ shuǐ lóng tóu lái le 。
The plumber has come to mend the tap.
 Yip, P. C., Rimmington, D., Xiaoming, Z., & Henson, R. (2009). Basic Chinese: a grammar and workbook. Taylor & Francis.