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The verbs pedir and preguntar both mean 'to ask' however, they are not interchangeable. Fortunately, the rules for using them are straightforward
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Pedir: To ask for, To request, To place an order
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Les pedí que me ayuden
Ya pidió
Le pediste un favor
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I asked them to help me
They ordered already
You asked him for a favor
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Preguntar: To ask a question or request information
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Vamos a preguntar a qué hora sirven la cena
Me preguntó dónde vivo
¿Le preguntaste si tiene novia?
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We are going to ask whhat time they serve dinner
He asked me where I live
Did you ask him if he has a girlfriend?
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