I cant find an explanation for the meaning of 'nous est arrivé'

Arriver à qqn tpyically describes a situation where someone passively experiences something. To give you some feeling for this phrase, here are a few examples:

Qu'est-ce qui t'est arrivé? -- What happened to you?
Ça arrive à tout le monde de faire des erreurs. -- It happens to everyone to make mistakes.

Chirag, 

which exercise or lesson does this come from ? What is the full sentence - you have only provided the indirect object and verb ?

Without the details, this looks, rightly or wrongly, like it could be homework. 

The meanings and conjugation of ‘ arriver ‘ can be found in online dictionaries :

 https://www.wordreference.com/fren/arriver

I think there may be a subject missing or understood. If you put an 'il' first, meaning 'it'. then you have the passive form - it happened to us.

il= it, nous=to us , est arrive perfect tence of to happen, > it to us has happened. Does that make sense?