Ответ:

  1. Tom went along the streets.
  2. He took one turning after another.
  3. Soon he saw a real prince.
  4. He came up to the gates to have a better look at the prince.
  5. The soldier gave him a blow and Tom fell down.
  6. One of the servants brought Tom something to eat.
  7. Tom said that his grandmother often beat him.

Все действия в повествовании переданы в Past Simple; после said форма beat остаётся такой же, потому что это неправильный глагол с одинаковыми формами настоящего и прошедшего времени.