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Compound past tense - sein as helping verb

Sein appears as the helping verb for any verb whose meaning designates a change of location,

1) if it does not have a direct object.
2) The same verb with a direct object uses haben as its helping verb.

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) for any verb whose meaning designates a process or development,
2) for two other verbs which fit neither category - sein and bleiben.

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.