Hmmm. Actually both sentences are a bit unusual. It would be much more common to just say My friend and I went to the beach yesterday.
New words, one handy idiom, and a 2-minute quiz — delivered to your inbox to keep your streak alive.
AnonymousA. " My friend and I have gone to the beach yesterday. " or is it B. " My friend and I have been going to the beach yesterday. "Both are very wrong. The use of the past time word 'yesterday' makes any form of present perfect impossible. Here is the only possibility: