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Sein appears as the helping verb for any verb whose meaning designates a change of location,
1) Wir sind nach Frankfurt gefahren. 2) Wir haben das Auto nach Frankfurt gefahren. |
We drove to Frankfurt. We drove the car to Frankfurt. |
Sein also appears as the helping verb
1) Wann ist das Wetter kalt geworden?
2) Er ist zu Hause geblieben. | When did the weather turn cold? He stayed at home. |
The verbs which use sein as a helping verb may be found in the list of principal parts of verbs.