How do you run two tasks at once then get it to start over again in the Lego Robotics program of ROBOLAB?

I’m having trouble running “wait for dark” (so when it senses 40 or above it sings) and “wait for push” (so when it bumps into something it stops turns at a random degree and goes another direction) at th same time. The mission thing is called Botzilla Then I want it to start all over again.