For example:
escape → They escaped
hope → We hoped
live → I lived
rescue → They rescued
They changes to i + -ed.
For example:
carry → He carried
cry → He cried
hurry → They hurried
marry → She married
But remember that verbs ending in vowel + -y end in -ed:
For example:
play → He played
stay → They stayed
For example:
cancel → They cancelled
plan → He planned
rob → They robbed
stop → We stopped
travel → He travelled
fit → The shoe fitted
However there are some exceptions to this:
For example:
happen → happened
open → opened
visit → visited
For example:
go → he went
have → she had
Harry and Michelle robbed the bank. Inspector Clark followed them.
We use it to talk about something which was true in the past:
Rome ruled a great empire.
My grandfather liked wine.
We use it when we are talking about a particular time in the past:
One hour ago/ Two years ago/ Last night/ Yesterday/ Last month/ In 1992, I visited we President.