* ilarawan (formal)
* magsalaysay (more general, can also mean "to narrate")
* ipaalam (meaning "to inform," but can also be used to mean "to describe" in some contexts)
The best translation will depend on the context of your sentence.
Here are some examples:
* Ilarawan mo ang iyong pamilya. (Describe your family.)
* Magsalaysay ka ng iyong karanasan. (Narrate your experience.)
* Ipaalam mo sa akin kung ano ang nangyari. (Inform me what happened. - In this context, it means "describe".)