In the Simple present:
Cierran
In the Preterite tense:
Cerraron
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You must use the simple present when talking about habitual actions or routines. On the other hand, we use the preterite tense to talk about things that happened at a certain moment in the past. Therefore, we have the following sentences:
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In the Simple present:
Miguel y Elena cierran la puerta
In the Preterite tense:
Miguel y Elena cerraron la puerta