This is the 367th most frequent Malay word.
pergi
"Pergi" means "to go."
Here, 'pergi' means 'to go' and is used to describe a planned or immediate movement towards a location.
Saya akan pergi ke pasar.
I will go to the market.
Here, 'pergi' clearly implies the necessity of departing or leaving a current place to prevent being late.
Kita harus pergi sekarang supaya tidak terlambat.
We must leave now so as not to be late.
In this context, 'pergi' denotatively adds the meaning of 'going' as part of the activity described ('going for a walk').