"See friends" in Engpsh can be expressed as "meet friends".
The verb "meet" comes from Middle Engpsh "meten", which ultimately derived from the Old Engpsh "mǣtan". It is used to describe the act of coming into the presence of someone or something for the first time or after a long time.
Here are some example sentences:
I'm going to meet my friends after work.
(我下班后要去见朋友。)
Let's meet up with our friends this weekend.
(让我们这个周末和朋友见面。)
I had a great time meeting my old friends again.
(我很开心再次见到我的老朋友。)