The auxiliary verbs do, does and did are followed by the bare infinitive to form negative and interrogative sentences in the past simple and present simple tenses:
This structure has a meaning similar to "make someone do something":
I'll have her copy the document right away. (I'll ask/tell her to copy the document right away.)
The teacher had me stay after class to discuss my essay. (The teacher made me stay after class to discuss my essay.)
