With most regular verbs you just have to add -ED
In verbs ending with e, add -D In verbs ending in a vowel + y... add -ED In verbs ending in consonants + y ... add -IED In one syllable verbs, double the last consonant and add -ED
work + ed = worked join+ ed = joined
move + d = moved live + d = lived
study (y---> i) = studied carry (y--->i) = carried