Borrow means to take or obtain with the promise to return the same or an equivalent:Bimbo has borrowed my car.
Lend means to grant the use of (something) on a condition that it will be returned: I will lend you my car.
It is wrong to say you borrow someone your belonging. You cannot borrow but lend.
It is wrong to tell someone to borrow you his/her belonging. The person cannot borrow you but lend.
See the examples below:
Please lend me your bag NOT Please borrow me your bag.
I borrowed his bag and he lent me. (lent is the past tense/particple of lend).