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So I know that ils iront means they will go but I can't seem to get why iront au pas mean they will walk. I'll appreciate your help greatly!

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Rather than specifically "to walk", "aller au pas" refers to a speed of walk. It can be understood as the relaxed, slow speed that you take when you are not in a rush.

It mainly refers to the speed of a walking horse:

Au pas, au trot, au galop... Ce cheval obéit au doigt et à l’œil !

Actually, this gave a more modern version... With cars!

Dans un parking, nous devons rouler au pas et rester en première vitesse.

And it can also refer to the military vocabulary:

Pendant le défilé, les soldats marchent au pas (cadencé).

And much more.

Edit: as Jonathan said in his answer, "au pas" can also refer to a form of submission. Honestly, this word is used for so many things that it would deserve a full article.

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To be more precise we should see the expression in context. However in general "aller au pas" is a French expression for obeying orders. Another meaning for example when talking about someone driving could potentially be to be "moving at the speed of someone walking".

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