We can use “have to” to express obligation in the present and future, and “had to” to express obligation in the past.
Questions:
Did you have to work yesterday?
What did you have to do recently at home, work or school?
A month ago, I had to help my sister with her Gynecology homework. I had to draw fetuses that sometimes were dead, very traumatic.
Yesterday, I had to wash the dishes. I also had to prepare my swimming equipment for today’s lesson.
Today, when I waked up, I had to make my bed.