Dare can mean ‘challenge somebody’. With this meaning, it is a main verb and requires an object. Any verb that follows it is in the to-infinitive:
Go on, I dare you.
Some snakes can bite but I dare you to hold this big snake.
Dare also means ‘to be brave enough or rude enough to do something’. With this meaning, it can be used as an ordinary main verb which can be followed by a to-infinitive or an infinitive without to. Less commonly, it can be used as a semi-modal verb followed by an infinitive without to.
If Sally dares (to) go there again, she’ll be in big trouble! (ordinary verb)
He doesn’t dare (to) go there. (ordinary verb)
No one dares (to) go there. (ordinary verb)
No one dare go there. (semi-modal verb)
Does anyone dare (to) go there? (ordinary verb)
Dare anyone go there? (semi-modal verb)
Doesn’t he dare (to) go there? (ordinary verb)
Daren’t he go there? (semi-modal verb)
We don’t use infinitive with to after semi-modal dare in the expression How dare you: