My friend and I had to go to the XYZ company. We reached the building the company was in. We took the elevator to the fourth floor, which is where the company was.
Although phrases like me and my friend are very frequently used as subjects in AmE, you should remember that the first-person singular subject pronoun in careful speech is I. Although I and my friend seems just as logical as my friend and I, we only use the latter variation.
Student or Learner