Affirmative statement
If Sally dares (to) go there again, she’ll be in big trouble! (ordinary verb)
Negative statement
He doesn’t dare (to) go there. (ordinary verb)
No one dares (to) go there. (ordinary verb)
No one dare go there. (semi-modal verb)
Affirmative question
Does anyone dare (to) go there? (ordinary verb)
Dare anyone go there? (semi-modal verb)
Negative question
Doesn’t he dare (to) go there? (ordinary verb)
Daren’t he go there? (semi-modal verb)
Typical error
We don’t use infinitive with to after semi-modal dare in the expression How dare you:
How dare you suggest she was lazy!
Not:
How dare you to suggest…