I leave you a written paragraph made by me where they have all the characteristics that the statement asks for:
Cuando llegamos a Madrid, lo primero que hicimos fue irnos a un bar por las calles cercanas del hotel donde nos alojamos. Cuando llegamos nos sentamos en una mesa amplia para toda mi familia. Vino un camarero a servirnos, como yo había estudiado durante tres años español podía pedirle toda la comida que querían mis familiares. Mi madre pidió unas tapas para empezar, como unas olivas. Después de las tapas empezamos con los platos fuertes, mis padres pidieron carne asada con guarnición y mi hermano y yo pedimos callos a la madrileña, un plato típico que nos recomendó el camarero. Obviamente cada uno pidió su bebida favorita, yo preferí una fanta de naranja y mis padres y mi hermano quisieron unas cocacolas. Terminamos de comer, dejamos una propina de cinco euros por el buen servicio que tuvimos. ¡Espero repetir la experiencia!

When we arrived in Madrid, the first thing we did was go to a bar in the streets near the hotel where we were staying. When we arrived we were seated at a large table for my whole family. A waiter came to serve us. Since I had studied Spanish for three years, I could order him for all the food my relatives wanted. My mother ordered some appetizers to start, like some olives. After the tapas we started with the main dishes, my parents ordered roast beef with garnish and my brother and I ordered Madrid-style tripe, a typical dish that the waiter recommended. Obviously each one ordered his favorite drink, I preferred an orange fanta and my parents and my brother wanted some Cokes. We finished eating, we left a five euro tip for the good service we had. I hope to repeat the experience!

In this case, the text that I have written is in the past so the simple past tense is used, since all the actions were punctual and began and ended in the past.
It should be noted that if you need to write another paragraph like this, you must have a working knowledge of "restaurant" vocabulary.
- Appetizer ⇝ Aperitivo/tapa
- Drink ⇝ Bebida
- Main dish ⇝ Plato fuerte
- To order ⇝ Pedir/ordenar (comida)
- To recommend ⇝ Recomendar
- To serve ⇝ Servir (comida)
- To prefer ⇝ Preferir
- To want ⇝ Querer
- To leave a tip ⇝ Dejar una propina