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We use the infinitive and add the ending "-ed". The form is the same for all people (I, you, he, she, it, we, they).
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Affirmative:
Subject + verb + ed. -
subject + verb ´´To Be´´ in past + not + complement.
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Did + subject + complement.
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For actions taking place one after another or in the middle of another action.
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An action in the past taking place once, never, several times.
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Of generalities or facts of the past.