A practical english grammar - Vyssaja skola 1978

DARE and NEED with TO
Sound symbols

Dare and need as modal auxiliaries (with the grammar that is peculiar to modals) were presented in Chapter 8. They can also function as ordinary verbs followed by infinitives. In this case, they have all the inflections that ordinary verbs do, and they form questions and nega­tives with do.

Do I dare to tell him what I really think?

I need to buy some new clothes.

You don’t need to wear a coat; it’s not cold.