Hi Richard, the important in this case is, when you use verb "ir" (go) with a infinitive verb, you should use the preposition "a" before infinitive verb.
examples:
<yo> voy a subir la escalera / I'm going up the stairs (voy, present of first person of verb "ir")
<tu> irás a comer / you will go to eat (irás, future of second person of verb "ir")
<él> fue a bailar/ He went to dance ( fue, past [pretérito indefinido] of third person of verb "ir")