Dare and need are marginal modals. It means in non-assertive territories (interrogatives, negatives) they can behave in two ways:
- like a modal auxiliary: Need you go home?
- like a (normal) full verb: Does she need to go home?
In assertive territories, the main verb construction is used: He needs to go home.
Blend of the two constructions is widely used for 'dare' :
I do not dare go home.