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In a sentence
Prišiel som pešo.
I came on foot.
Pôjdeme pešo.
We'll go on foot.
Išiel domov pešo.
He went home on foot.
Šiel domov pešo.
He went home on foot.
Examples from Tatoeba (CC BY 2.0 FR).
Source
Slovak National Corpus (SNK) ↗English gloss from the frequency publish path. Example sentences from Tatoeba (CC BY 2.0 FR).
Full attribution on References.