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聞く means both "to listen" and "to ask." In English these are totally different words, but in Japanese one word covers both. If you say 先生に聞きました, it means "I asked the teacher." If you say 日本語を聞きました, it means "I listened to Japanese." The word that comes before 聞く is what tells you which meaning it is.
帰る specifically means going back to where you belong - usually home. You would not use 帰る for returning to a store you visited earlier. When Japanese people leave work, they say 帰ります, and everyone knows it means they are heading home. It is one of the most common daily-life verbs you will hear.
Japanese only has two verbs that do not follow the normal rules: する and 来る. What makes 来る tricky is that the kanji stays the same but the reading changes depending on the form - 来る is くる, but 来ます is きます and 来ない is こない. You already know する from a previous lesson, so now you have the full set.