Use 'get' to express a point of arrival or a destination.

For example:
I got to work at seven thirty this morning.
It took us three hours to get to San Francisco.

Important Note: 
'Get' is often used together with a specific point of time, a duration of time, or a specific destination.

Verb Forms: Get - Got - Gotten (got) - Getting

Use 'go' to express the journey, trip or experience in general. 
This includes both the journey to and from the destination. 

For example:
We went to Italy on vacation.
How often have you gone to that restaurant?

Important Note: 
'Go' is also often used in general to speak about the entire journey, trip or experience, rather than the actual traveling to a location.

Verb Forms: Go - Went - Gone - Going