When some action is mutual, you can use the word 互相 (hùxiāng). The word "mutual" feels formal in English, but in Chinese even everyday phrases such as "learn from each other" use the word 互相, which expresses this "each other" aspect.
Usually 互相 (hùxiāng) is used with two-syllable words, and for one-syllable words some other information will be added after the verb to make it sound more natural (see below for examples of this.)
互相 + Verb
Don't use 互相 (hùxiāng) with single-syllable verbs. If you really have to use 互相, you can make the verb longer by adding extra information after it.
Note that for some verbs which are inherently "mutual," the use of 互相 (hùxiāng) is redundant and unnecessary. So the following phrases are not wrong, but a little strange.