audio

Audio, audire, audivi, auditum is fourth conjugation and the model verb for it, so if you can run audio you can run every regular fourth-conjugation verb on the site. It takes a plain accusative for the thing heard, and an accusative with an infinitive to report what you heard was happening.

The second sense is "obey". Audire patrem is nearer "heed your father" than "listen to him", and English does exactly the same thing when a parent says "you will listen to me". The trap in real texts is syncopation: the perfect regularly loses the -vi-, giving audisse for audivisse and audissem for audivissem. That is the same verb, not a different one, and it is very common. Family: auditor, auditorium, exaudio, oboedio (ob-audio). English audience, audit, audible, auditorium, and obey itself, which reaches us through French obéir.