Dare usually forms negatives and questions like an ordinary verb and is followed by an infinitive with to. It is most common in the negative:
I didnít dare to ask.
He wont dare to break his promise.
You told him? How did you dare?
I hardly dared to hope sheíd remember me.
In positive sentences a phrase like not be afraid is often used instead:
She wasnít afraid (= she dared) to tell him the truth.
It can also be used like a modal verb especially in present tense negative forms in BrE, and is followed by an infinitive without to:
I darenít tell her the truth.
In spoken English, the forms of the ordinary verb are often used with an infinitive without to:
Donít you dare tell her what I said!
I didnít dare look at him.
see: ALD, seventh edition 2005