The document defines auxiliary verbs as verbs that help form the moods, tenses, or voices of other verbs. It lists 16 common auxiliary verbs including be, have, do, will, would, shall, should, can, could, may, might, must, ought to, dare, need, and used to. The document distinguishes between primary auxiliaries (be, have, do) and modal auxiliaries. It provides examples of how each auxiliary verb is used in sentences and explains their functions in forming questions, question tags, commands, and emphasis.