We can analyze the structure of a sentence and find its sentence components: subject, predicate, object, object complement and so on.

Subject: he, predicate (verb): teach (pay attention to the changes of three simple words or tenses, if it is past tense, you should use taught), object: us, object complement: English.

This method can also be used in translating other sentences, but it should also be noted that the writing order of English may be different from that of Chinese. This translation should be regarded as a relatively simple question. You can pay more attention to the sentences in daily textbooks or movies.