Modal Verbs (können, müssen, sollen, wollen, dürfen, mögen)
How do modal verbs form the Perfekt tense?
They use haben as the auxiliary and a special "double infinitive" construction (modal verb infinitive + main verb infinitive) when they accompany another verb. If used alone, they form a regular Partizip II.
Example
Ich habe das Buch lesen können. (I was able to read the book.)
Ich habe arbeiten müssen. (I had to work.)
Ich habe es nicht gewollt. (I didn't want it - modal verb used alone.)