You should already know how to conjugate the verb estar.

estoy
estás
está
estamos
estáis
están

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Notice that ir and dar follow the same pattern as estar; they are irregular in the first person singular (yo).

estar (to be) ir (to go) dar (to give)

estoy voy doy
estás vas das
está va da

estamos vamos damos
estáis vais dais

están van dan

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Since these verbs are irregular, their conjugations must be memorized. Make a flashcard with these three verbs on one side, and their conjugations on the other side.

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It seems that there are two options when it comes to learning the irregular verbs. The first is to view them as complex and difficult, in which case you will struggle, wring your hands in consternation, and never really learn them. We do not advocate this approach.

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A more productive strategy is to build a library of flashcards and to study them regularly. It is not necessary to study them for long periods of time. It is, however, essential to study them frequently. Therefore, we recommend that you carry your little stack of verb cards with you, and pull them out several times a day. This will work, even if you only study them for 3-4 minutes per session.

Guaranteed!

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Let's add a flashcard for the irregular verbs estar, ir, and dar:

Verb Flashcards

estar, ir, dar

estoy - voy - doy
estás - vas - das
está - va - da
estamos - vamos - damos
estáis - vais - dais
están - van - dan