Primary helping verbs are :

Used in tenses

Present tense = do/does, do not/ does not, am/ is/ are/, am not/ is not/ are not, have/has, have not/ has not, have been/ has been, have not been/ has not been

Past tense = did, did not, was/were, was not/ were not, had, had not, had been, had not been

Future tense = shall/ will, shall not/ will not, shall be/ will be, shall not be/ will not be, shall have / will have, shall not have/ will not have, shall have been / will have been, shall not have been/ will not have been

Modal helping verbs are :

Used separately
can, can not, should, should not, could, could not, used to, never, want to / wants to, do not want / does not want, must, have to / has to, do not have / does not have, Let me/them/him/her, Let us, wanted to , will have to, must have, would have, should have, could have, might have.