You're correct that nag is for past tense. The four tenses for this conjugation are as follows:
mag +root = infinitive form (used after pseudo verbs like gusto, ayaw, pwede, dapat, etc, and for commands)
nag + root = past (nag-aral, have studied)
nag + first syllable of root + root = present (nag-aaral, am/is studying)
mag + first syllable of the root + root = future (mag-aaral, will study)
Hope that helps!