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Helping verbs are sometimes called auxillary verbs. They can work with regular verbs like the examples shown here (only the helping verbs are underlined):
am going were running is done will stop may continue might wait have colleted did cook
could be will be could have been could be should have must have
Greg has ran a long way in the rain. Sue must write one hundred sentences. Frank should be arriving soon. Jill can drive us to the store.