Here are the forms.
Present: Subject + have to /has to + verb in infinitive
I have to study every day.
She has to study every day.
Past: Subject + had to + verb in infinitive.
I had to look after my brother yesterday.
He had to clean his room.
Future: Subject + will have to + verb in infinitive.
Tomorrow I will have to go shopping with my parents.
Next week we will have to bring glue sticks to class.
Questions in Present:
Do/Does + Subject + have to + verb in infinitive.
Do we have to finish the worksheet at home?
Does he have to write his name on the paper?
Questions in Past:
Did + Subject + have to + verb in infinitive
Did
you have to stay late yesterday?
Did they have to do a book report last week?
Questions in Future:
Will + Subject + have to + verb in infinitive
Will
we have to come to
school on Monday?
Will you have to help make the cake tomorrow?