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'Lay' is an action verb and requires a direct object (other tenses: laid, laying). 'Lie' denotes a state of reclining horizontally and does not take a direct object. Its past tense is 'lay'. Other tenses: lain, lying. When using 'lie' to mean a falsehood, the verb forms are: lie, lied, lying.
Tracie laid the book on the table.
After a long day, all Jeremy wanted to do was lie down.
Sheri thought the printer was lying when he told her the print job was done early.