When should I use do does and did?

Hello there, I'm curious about a common question in English grammar: When should I use "do," "does," and "did"? Could you explain the proper usage of these verbs in a sentence, and maybe give some examples to help me understand better? I've heard they're related to the present, present continuous, and past tenses, but I'm still a bit confused about how to apply them correctly. Thank you in advance for your clarification!