Modern Standard Korean has the nouns 파랑 parang = blue vs 녹색/초록 noksaek/chorok = green, where the first is native Korean and the second is hanja-eo. Other nouns exist, e.g. 파란색 paransaek.
But 푸르다 pureuda, the root adjective connected to 풀 pul "grass", is not just blue or green - it is both, and also has connotations of "young" and "youthful". This mirrors 青 (Mandarin: qīng; Cantonese Jyutping: cing1) in Classical Chinese and 青い (あおい) aoi in Japanese. Thus:
푸른 바다의 전설 pureun bada-ui jeonseol
Legend of the Blue Sea
푸른 숲 pureun sup
Green forest
Note that Berlin & Kay identify Stage IV, including most Classical East Asian languages, as continuing to colexify blue and green.
The derived 파랗다 parata is derived from 푸르다 + 하다, and is attested in Middle Korean as 파〮라ᄒᆞ다〮 (Yale: phálà-hòtá). This retains some of the "grue" meaning, but has narrowed over the years to blue, similar to Japanese 青い aoi; this was particularly accelerated after World War II, possibly due to education reforms.
So Korean over the last few centuries shows a 'model' transition from Stage IV to Stage VII on the Berlin-Kay development path, with semantic narrowing of 파랑 and 녹/초록 borrowing being its main strategies.
Note that such "families" also exist for other colours, but this semantic narrowing hasn't quite happened in the same way. E.g. the colour of fire 불 forming 븕다〮 in Middle Korean, with 붉다 as its 'normal' modern form, and 밝다 as a totally different derived term (to be bright); subsequently when suffixed with 하다 and then reduced, forming 발갛다, 벌겋다 and 빨갛다, the last of which forms the noun 빨강.