Modal verbs are used to express concepts like ability, permission, possibility, necessity and obligation. Some common modal verbs are can, could, may, might, must, shall, should, and will. Modal verbs are followed by an infinitive without "to" and do not change form or require auxiliary verbs. They can express single concepts like possibility or double concepts like permission and probability. When referring to past ability or possibility, modal verbs are used with "have" plus the past participle form of the main verb.