Modal verbs are helping verbs that express ideas like ability, necessity, and prohibition. They are always followed by the simple form of a verb. Modal verbs include must, have to, need, had better, ought to, and should. Each modal verb has specific meanings and uses - must expresses certainty, have to expresses obligation, need expresses necessity, had better gives advice about specific situations, ought to is used to advise or make recommendations and express probability, and should is used when offering advice or opinions.