zahlen
to pay
To give money for goods or services received, or to settle a debt.
Können wir bitte zahlen? Wir würden gerne gehen.
Can we please pay? We'd like to leave.

to pay
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to pay
To give money for goods or services received, or to settle a debt.
Können wir bitte zahlen? Wir würden gerne gehen.
Can we please pay? We'd like to leave.

The basic meaning of 'zahlen' (to pay) refers to money. The reflexive form 'sich auszahlen' (to pay off) is always figurative and means 'sich lohnen' (to be worthwhile). 'Für etwas zahlen' (to pay for something) can also figuratively refer to negative consequences.
Ich zahle die Rechnung.
I pay the bill.
To express what you are paying for, you use the preposition 'für' with the accusative. The payment method is expressed with 'mit' or 'in'.
Ich zahle für den Kaffee.
I pay for the coffee.
When you want to ask for the bill in a restaurant or café, the short sentence 'Zahlen, bitte!' (The bill, please! / We'd like to pay, please!) is a very common and natural phrase.
Entschuldigung, wir möchten bitte zahlen.
Excuse me, we'd like to pay, please.
In the meaning 'sich lohnen' (to be worthwhile), 'sich auszahlen' (to pay off) is a separable verb. In a main clause, the prefix 'aus' stands at the end of the sentence.
Die lange Vorbereitung auf den Marathon hat sich ausgezahlt.
The long preparation for the marathon paid off.
In this figurative meaning, it is not about money but about bearing negative consequences. It is often combined with adverbs or phrases like 'teuer' (dearly) or 'eines Tages' (one day).
Für seine Arroganz musste er einen hohen Preis zahlen.
He had to pay a high price for his arrogance.
to cost / taste
'kosten' and 'zahlen' both belong to the topic of money, but they do not mean the same thing. 'kosten' states the price of an item or service. 'zahlen' means that someone gives money, for example at the checkout, in a restaurant, or for a bill. That is why you say: 'Das Buch kostet 15 Euro' (The book costs 15 euros), but: 'Ich zahle 15 Euro' (I pay 15 euros). This confusion is typical because the same amount can appear in both sentences. Memory aid: things cost; people pay.

Im Restaurant zahlen wir heute getrennt.
At the restaurant, we are paying separately today.
Wie viel kostet die Untersuchung beim Arzt?
How much does the examination at the doctor's office cost?