"Dare" is one of those words that is sometimes an auxiliary verb, and sometimes not. E.g. "Do we dare to do that?" = "Dare we do that?" "I don't dare to..." = "I dare not..." "Don't (you) dare to think of giving up" = "Dare not think of giving up" It sounds more formal or poetic when "dare" is an auxiliary verb.

These are correct, but I can't give rule a rule: Don't dare tell me I'm wrong . Dare to dream! If you dare to dream you can acheive your goals. Dare yourself to learn as much as possible. Those who dare to challenge authority are often punished. ( here "Those who dare challenge authority.." is also correct) You daren't go in there.