ClockworkCoder
Chaotic Neutral
While correct, I just wanted to clarify 行くぞ (iku zo). Like I mentioned, "zo" (ぞ) indicates emphasis, or urgency (stronger/masculine variant of "yo" (よ).iku 行く・いく is in fact the verb for "to go" but the "let's do" conjugation would be ikimashou 行きましょう・いきましょう.
As such 行くぞ is, for example, something a father might say to urge his child to hurry up so they can go somewhere. So while it may depend a little on context this expression can most certainly be translated as "let's go".