Phrasal verbs are verbs that are made up of short phrases, usually two or three words. The phrasal verb consists of the principal verb and one or two particles (usually prepositions). Phrasal verbs are very common in spoken English but are used in written English as well. Here are some phrasal verbs you may know:
pick up - I picked him up at the airport.
get away - The thief got away with the robbery.
look after - I looked after my sister's cat for the weekend.
You might want more on information on phrasal verbs.
Verbs take on different functions. Generally, we think of verbs as 'main verbs'. These are verbs such as 'play, eat, drive, etc.'. However, verbs can also serve as helping (auxiliary) verbs or modal verbs.
Helping verbs include: do/does, did, am/is/are, was/were, have/has, had.