To use the the verb to dare is a little tricky in English. 1 You can can dare someone to do something. eg. I dare you to run across the grass! 2 You can also dare your self to do something. eg. I dared to ask him for an autograph. If you want to use the verb to dare with honesty you have to use the verb to be. eg. I dare you to be honest or I don't dare to be honest. So dare is followed by the INFINITIVE of a verb.

I think I'd normally follow the word "dare" with another verb, for example: "I dare you to jump in the lake with your all your clothes on." or "Would he dare to speak honestly, knowing the consequences?"

Mary's answer is great. I just wanted to add that there are certain verbs like "dare" that are simply always followed by an infinitive verb form. You can find a list of many of these verbs at the following link -- scroll down to where it says "Verbs (with 'to')": https://english.lingolia.com/en/grammar/verbs/infinitive-gerund/infinitive