Idon't understand perfect tense could some one explain i find it so complicated!

When you use construct a sentence in german in past tense for example i drank milk on monday in the caravan the last tense version ich getrinken milsch am montag in mine whonwagen how would you put this is the write order if the sentence

How to put presence and circumstances in one sentence

Va rog traduceti ordnen sie die wörter in gruppen ergänzen sie den artikel und den plural