Student: How do you say go in Russian?
Teacher (sighing): You're not quite ready for that yet. That's second-semester material.
If you've spent even a couple of months learning Russian, you'll probably smile knowingly at this joke. And if you're already a seasoned guru who knows everything about on-foot vs. transport, unidirectional vs. multidirectional, and prefixed vs. unprefixed verbs of motion, try to answer this: In which situation do the words mean the same thing? This picture contains a clue:

But before we go further, let’s untangle these verb forms.
Идём — a unidirectional (that is, definite, or actual), “on-foot” verb идти in the present tense, 1st person plural form:
“we are going (on foot).”
Пойдём — a unidirectional “on-foot” verb in the future tense, 1st person plural form:
“we will go (on foot).”
Пошли — a unidirectional “on-foot” verb in the past tense plural form (1st, 2nd, or 3rd person):
“we / you / they went (on foot).”
So how can they be interchangeable?
It’s possible when they are used as the joint imperative, i.e. as an invitation or encouragement to go somewhere together.
It’s most typical that the joint form of the imperative coincides with the future-tense 1st person plural form of perfective verbs:
- Сделаем это так. — Let’s do it this way.
- Поедем на море. — Let’s go to the sea.
With unidirectional verbs of motion, however, the joint imperative may coincide with the present-tense 1st person plural form:
- Идём! — Let’s go!
- Едем! — Let’s go (by vehicle).
- Бежим! — Let’s run!
- Летим! — Let’s fly!
As for the usage of the past tense пошли to say “let’s go”, most grammar books mark it as informal, so you can use it in conversation but should avoid it in writing.
To address more than one person, we add -те to the verbs in the present and future tense:
- Пойдёмте в кино!
- Идёмте скорее!
Sometimes you may hear people also say пошлите, but this form of идти is considered a grammatical error. In fact — quite accidentally — it’s actually the imperative of послать (to send). Let’s not mix them up!
So now you know the secret:
two different verbs, three different tenses… and one simple meaning when someone just wants you to move already.
Next time you hear Идём! Пойдём! Пошли! — don’t panic.
Just… go.