dare has no single tidy rule. It comes in a few set ways you learn as whole phrases. One is daren't (= dare not) + the base verb, for when you're too afraid to do something.
daren't + the base verb
I daren't tell him the bad news.
She daren't look down from the top.
We daren't move while the dog was watching.
Try it: It was so high that he ___ look over the edge. (daren't / daren't to / dares not to) Answer: daren't — In this set phrase, daren't is followed straight by the base verb: daren't look. "Daren't to" adds a "to" this phrase doesn't take. "Dares not to" mixes the pattern up; the fixed form here is daren't + the base verb.
dare to + verb
Used like an ordinary verb, dare takes to + the verb: dare to do something. In the negative and in questions, you'll hear both didn't dare to + verb and the to dropped: didn't dare + base verb (I didn't dare wake the baby).
Few people dare to disagree with her.
He finally dared to ask for a raise.
I didn't dare to wake the baby.
Not "Few people dare disagree with her." — say "Few people dare to disagree with her.". As an ordinary verb, dare takes to + the verb: dare to disagree.
Try it: Used as a normal verb, dare takes "to". Hardly anyone ___ question the decision. (dares to / dares / dare to) Answer: dares to — As an ordinary verb after a he/she/it idea (anyone), it's dares to + the verb: dares to question. "Dares" alone drops the "to" this pattern needs. "Dare to" misses the -s for anyone. The fixed pattern here is dare(s) to + verb.
How dare you ...!
How dare you is a fixed expression, not a real question. You use it when you're angry or offended at what someone has done — it means roughly "you had no right to do that." It's emphatic and emotional, a reproach said with strong feeling. The form is fixed: How dare you + the base verb (and you can swap the person: How dare he, How dare they).
How dare you speak to me like that!
How dare you go through my things!
How dare she call me a liar!
Not "How dare you to speak to me like that!" — say "How dare you speak to me like that!". Unlike the ordinary verb (dare to do), this fixed expression never takes to: How dare you + the base verb.
Try it: When you're angry at what someone did, one fixed phrase fits. ___ speak to me like that! (How dare you / How dare you to / How you dare) Answer: How dare you — This is a set expression of anger, always How dare you + the base verb: How dare you speak. "How dare you to" adds a "to" the phrase never uses. "How you dare" puts the words in the wrong order. It's fixed as How dare you.