
Jim C. answered 04/04/19
I'm an experienced, thoughtful tutor who speaks several languages. As
Okay. The immeidatge answer to your question is that there is one, and only one, auxility verb in Russian, быть. Unlike English, which has a dizzying array of verb forms, Russian has only this one verb.
Now to the construction you ask about: идти гулять. Fortunately, there's an analogous construction in English: "to go walking" or "to go for a walk." What is at issue is whether this is a goal-oriented activity or not. If you wish to say, "I'm walking to the park," then obviously you say, "Я иду в парк." However, if you are not engaged in goal-oriented acitity, if you're walking for the wak of walking, of exercise of whatever, then you "Я иду гулять/ Я иду-гуляю."
Does that help? Remember that auxiliary verbs are ONLY used to form tenses of verbs.

Yelena F.
I think there is a confusion seen in the question itself when a compound verbal predicate is mixed with an auxiliary verb used in the compound nominal predicate (Я иду гулять vs. В лесу было тихо)10/08/19