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to be (of animate objects); to exist
to stay
to be ...-ing
to have ...-ed; to be ...-ed
教室に学生が五人いる。
There are five students in the classroom.
道を教えていただけますか。
Could you tell me the way?
昨日、公園に子供がたくさんいた。
Yesterday, there were many children in the park.