I with my friend went to the beach
When talking about doing things with a friend, put the ‘with my friend’ after the action.
I with my friend went to the swimming pool.
I went to the swimming pool with my friend.
He with his friends will go to Korea.
He will go to Korea with his friends.
However, if talking about you and another person (and both are subjects i.e. you are doing something) it is usual to use ‘…and I’, not ‘I and…’
I and he ate all the food.
He and I ate all the food.
I and my friend are going to Mexico next year.
My friend and I are going to Mexico next year.