Sandi : Where did you go yesterday, Tyas?

Tyas : I — my grandparents in Bogor.

Sandi : What did you do there?

Tyas : I help them with this season's harvest.

Answer:

visited

Discussion:

We use the simple past tense to express events that occured or have ended in the past. It is related to specific time expressions: definite time (yesterday, last week, last night) and indefinite time (the other day, ages ago, a moment a go).