sich prügeln
to fight
To physically attack and hit each other; to be involved in a brawl.
Zwei Jugendliche haben sich auf dem Schulhof geprügelt.
Two teenagers got into a fight in the schoolyard.

to fight / beat
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to fight
To physically attack and hit each other; to be involved in a brawl.
Zwei Jugendliche haben sich auf dem Schulhof geprügelt.
Two teenagers got into a fight in the schoolyard.

The use of the verb changes the meaning: 'sich prügeln' is reflexive and means that two or more people are hitting each other. 'Jemanden prügeln' is transitive and means that one person is hitting another.
Die beiden Männer prügelten sich vor der Bar.
The two men fought in front of the bar.
The verb 'prügeln' comes from the noun 'der Prügel' (stick/club), which means a thick stick or cudgel. The word therefore expresses a very violent and brutal form of hitting.
Er drohte ihm mit einem Prügel.
He threatened him with a club.
If you want to express whom someone is fighting with, the preposition 'mit' followed by the dative is used. The structure is: Person A prügelt sich mit Person B.
Er hat sich in der Schule oft mit älteren Schülern geprügelt.
At school, he often fought with older students.
to fight
'kämpfen' and 'prügeln' can both describe a physical confrontation. However, 'kämpfen' is more general and can also be used in sports, war, or serious conflicts. 'prügeln' is much narrower and means that someone hits violently or that people hit each other. It sounds clearly violent and negative. The words can be confused when two people get into a physical fight. As a guide: 'kämpfen' describes the fight as a situation; 'prügeln' emphasizes the hitting.

Vor dem Termin prügelten sich zwei Männer vor dem Gebäude.
Before the appointment, two men got into a fight in front of the building.
Die Soldaten kämpften viele Stunden in der Nähe der Stadt.
The soldiers fought for many hours near the city.