Dare means ‘to have the courage (or impertinence) to do something’. In the negative, it denotes the lack of courage to do something.

“How dare you ask the little Kelveys into the courtyard,” said her cold, furious voice. (Mansfield)

 The verb dare as well as need has some peculiarities which make it different from other modal verbs.

It is used both as a normal verb (taking the auxiliary do in the interrogative and negative forms, – s in the third person singular, and the to-Infinitive) and as an anomalous verb (without any auxiliary in its interrogative and negative forms, without – s in the third person singular and without the particle to before the infinitive which follows it). Dare has two forms — dare for the Present and dared for the Past.

Did he dare to strike me when I was down? (E. Bronte)

He did not dare to meet his uncle. (Kruisinga)

How dare you go out by yourself after the orders I gave you? (Shaw)

You dare address me in that tone! (Shaw)

 Sometimes dare takes the auxiliary but is followed by the bare infinitive.

You know you didn’t dare give the order to charge the bridge until you saw us on the other side. (Shaw) ‘

 Dare is mostly used in interrogative and negative sentences. However, we often come across I dare say which has become a stock phrase and acquired a new meaning ‘I suppose’. Dare is used only with the Indefinite Infinitive.