“Ir” is one of those words you’ll hear about if you’re trying to learn Spanish as the “only exception to a rule.” The exception is that its conjugated forms bear no relation at all to its infinitive or gerund forms, which are crazy-different from each other too, not to mention its past-tense look. In short, it’s a weird word.
Below is a list I found of all of its forms. The most important part is that the root word is “ir,” which conjugates to (yo form) “voy,” and is (yo form) “fui” in the past tense. You can probably conjugate it – or conjugate it enough – from there.
Oh, and it means “to go.” That’s important too.
Infinitive (infinitivo) to go: ir
Gerund (gerundio) going: yendo
Participle (participio)gone: ido
Present indicative (presente del indicativo) I go, you go, etc.: yo voy, tú vas, usted/él/ella va, nosotros/as vamos, vosotros/as vais, ustedes/ellos/ellas van
Preterite (pretérito) I went, you went, etc.: yo fui, tu fuiste, usted/él/ella fue, nosotros/as fuimos, vosotros/as fuisteis, ustedes/ellos/ellas fueron
Imperfect indicative (imperfecto del indicativo) I used to go, you used to go, etc.: yo iba, tú ibas, usted/él/ella iba, nosotros/as íbamos, vosotros/as ibais, ustedes/ellos/ellas iban
Future (futuro) I will go, you will go, etc.: yo iré, tú irás, usted/él/ella irá, nosotros/as iremos, vosotros/as iréis, ustedes/ellos/ellas irán
Conditional (condicional) I would go, you would go, etc.:yo iría, tú irías, usted/él/ella iría, nosotros/as iríamos, vosotros/as iríais, ustedes/ellos/ellas irían
Present subjunctive (presente del subjuntivo) that I go, that you go, etc.: que yo vaya, que tú vayas, que usted/él/ella vaya, que nosotros/as vayamos, que vosotros/as vayáis, que ustedes/ellos/ellas vayan
Imperfect subjunctive (imperfecto del subjuntivo) that I were, that you were, etc.: que yo fuera (fuese), que tú fueras (fueses), que usted/él/ella fuera (fuese), que nosotros/as fuéramos (fuésemos), que vosotros/as fuerais (fueseis), que ustedes/ellos/ellas fueran (fuesen)
Imperative (imperativo) go: ve (tú), no vayas (tú), vaya usted, vamos or vayamos (nosotros/as), id (vosotros/as), no vayáis (vosotros/as), vayan ustedes
Note: The preterite conjugation is the same as that of the verb ser. The context typically will indicate which verb is being conjugated.
[Reference: http://spanish.about.com/od/specificverbs/a/conjugation_ir.htm]