Go means to move from one place to the next place. So use go when the focus of your sentence is movement from point A to point B:
- I go to my office every morning.
- Sometimes I go to the deli to pick up breakfast.
- I go home around 9:00pm
Get means to arrive, so we use get when the focus of the sentence is on arrving at a place:
- I get to the train station about 7:10.
- After I get to Manhattan, I walk to my office.
- I usually get to the office by 8:30.