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The bare infinitive is used as the main verb after the dummy auxiliary verb do, or most modal auxiliary verbs (such as will, can, or should..)
I do know him 
I do like you.
I can do it .
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 the infinitive without to, as used with modal auxiliary verbs.

 In the sentence I must go to the store now,the verb go is a bare infinitive.

for details 

see attached pic
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