An Auxiliary Verb is used to help an other verb.
( a ) I shall go.
( b ) We have come.
Note : A verb that is helped by an auxiliary verb is called a Principal verb
In a " shall " is an auxilizry verb used to help the verb " go " to form a future time.
In b. " have " is an auxiliary verb used to help the verb " come " to express a time partly past and partly present.
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