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The verb “kommen” is used in the context of coming.

Here is an example:

Peter kommt heute

Peter comes today

Woher kommst du?

Where are you coming from?

Or in another context … Where are you from?

The verb “ankommen” is used more often in contexts such as “just ariving to a place”

Der Zug ist gerade angekommen

The train has just arrived

The verb “zurückkommen” is used to say “return to a site”

Sabine ist in Italien. Sie kommt am Dienstag zurück

Sabine is in Italy, she returns on Tuesday