Verbs are simply known as the ‘action’ words – may it be mental, physical or mechanical. When verbs are paired with auxiliaries (helping verbs), they are known as verb phrase. These helping verbs always go first before the actual verb. Verb tenses are used to describe how the verbs work in people’s everyday lives. The verbs may be simple present or past verbs or verbs with helping verbs like has, be, can, etc.
In this sentence: I have taken the grocery bags out of the car already. The verb tense ‘have taken’ is a present perfect tense. It is an action done in the past and still on going in the present.