"Pamilyar" is just the Tagalog spelling of "familiar". The Tagalog verb could be "makilala" or maybe "matandaan" - Nakikilala/Natatandaan ko ang lugar na iyan. Nakikilala/Natatandaan kita.
Just think of "pamilyar" as really "familiar" and then form a Taglish verb out of it.
Also, "Pamilyar IKAW sa akin" sounds awkward. The correct way to say it is "Pamilyar KA sa akin".