Usage of Need and Dare

Both need and dare can be used as auxiliary verb and main verb. When used as auxiliary verb, it works just like other modal auxiliaries, such as 'can', 'may', 'will', 'shall', etc. When used as main verb, they are like any other verb, such as 'run', 'go', 'come', 'take', 'work', 'joke', etc. Examples:

As auxiliary verb:

They needn't walk home, they can catch a bus. How dare you disobey my orders? Need you really take that risk? She dare not make the first move at any cost. I need drive to Joe's immediately.

As you have seen, dare and need don't agree with the subject or use 'to' when used as modal auxiliary. It's just like 'can' or 'may': such as, "I may drive to Joe's immediately", "Can you really take that risk?"

Used as normal verb:

I need to get the attestation before applying. She does dare to do a lot of things. Do you dare to compete with me in this? Does she need any more help?

Now, it's just like any other normal verb. It agrees with the subject and does take 'to'.