Let's start with the basic system: All interrogative forms in modern English use an auxiliary verb. ( unless a wh- word is the subject of the verb, but we'll come to that later) . If the sentence itself contains no auxiliary verb , then we use DO as an auxiliary verb in the interrogative .
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ankhe.g. I want to ask a question,Think about the answer.
ankhMay I know in "The children are playing in the garden. - Where are the children playing? " why the "are" is an auxiliary verb?The meaningful verb in that sentence is PLAY. The parts of be (am, is, are, was, were) in combination with the -ing form help us construct the progressive aspect of PLAY.
ankhWhere are the children playing? " why the "are" is an auxiliary verb?Here is a very good instruction page (first in the series) on how to find verbs and auxiliary verbs in sentences: