The word "with" is used in a number of ways. 

In the sense of "accompanied by", "with" is usually translated by a phrase employing the verb tlhej, accompany. Thus, I drink tea with Torg and Maltz would be described with sentences such as:

Dargh vItlhutlhDI' mutlhej torgh matlh je. When I drink tea, Torg and Maltz accompany me.

Dargh vItlhutlh. mutlhej torgh matlh je. I drink tea. Torg and Maltz accompany me.

Dargh vItlhutlh 'ej mutlhej torgh matlh je. I drink tea, and Torg and Maltz accompany me.

In the sense of "using", "with" is usually translated by a phrase employing the verb lo', use. Thus, I did a hole with a shovel could be said:

ghevjur vIlo'taHvIS QemjIq vItlhan While using a shovel, I dig a hole.

QemjIq vItlhan. ghevjur vIlo' I dig a hole. I use a shovel

QemjIq vItlhan 'ej ghevjur vIlo' I dig a hole and I use a shovel