today= hari ini
yesterday= kemarin
tomorrow= besok
you use exactly same verb when you talk about thing in present and in past tense. you can differ whether it is present or past tense by noticing the time marker (hari ini, kemarin, besok, dulu, nanti, etc). for future you add "akan" before the verb.
example
1. I go shopping every Sunday. = Aku pergi berbelanja setiap hari Minggu.
2. I went shopping yesterday. = Aku pergi berbelanja kemarin.
3. I will go shopping tomorrow. = Aku akan pergi berbelanja besok.