Many of my students have asked me how to use "A GENTE" in Brazilian Portuguese. They mostly speak an informal Portuguese which make they feel comfortable to say "A GENTE" istead of "NÓS". The thing is, if you are having a very informal conversation with a friends it's ok to say "A GENTE" when you mean "WE" or "US", but it's grammatically wrong! There is no "A GENTE" in the subject list in Portuguese and we can't conjugate a verb using "A GENTE".
Eu - I
Tu (Você) - You
Ele / Ela - He / She / It
Nós - We
Vós (Vocês) - You
Eles / Elas - They
So, istead of always say "A GENTE", try to do more "NÓS".
A GENTE vai = NÓS vamos (We go)
A GENTE come = NÓS comemos (We eat)
A GENTE sabe = NÓS sabemos (We know)
A GENTE vive = NÓS vivemos (We live)
A GENTE dirige = NÓS dirigimos (we drive)