The difference between "go" and "come" in the English language – learn English ESL

What is the difference between "go" and "come"?

We go from here to there and we come from there to here.
For example:

I live in Madrid, in Spain. I live here. And tomorrow I will travel to Paris, in France, so I will go from Madrid to Paris. I will go from here to there. The next day, I will return from Paris to Madrid. So I will come from Paris to Madrid. I will come from there to here.

Part 2: https://www.youtube.com/watch?v=FedSYM-4mZ8

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