In English there is no equivalent verb to the Spanish verb «soler».
Here is what you do in the Past Simple and Present Simple.
In the Past Simple:
Use «would» + infinitive or «used to» + infinitive
When we were kids, we would go to the river and we would try to catch fish.
When they were kids, they used to go to the beach. They used to build sandcastles on the beach.
My neighbour used to go skiing every year. He would always go to the Swiss Alps.
In the Present Simple:
Use the adverb of frequency «usually» (usualmente)
I usually play basketball on Thursday.
She usually goes to the market on Saturday morning.
He usually goes to Church on Sunday.
She usually brushes her teeth three times a day.