In the sentence below:
Danach bin ich ganz allein gewesen und [ich] habe gehen müssen, als es zu schlimm geworden ist".
1.When do we have to use "habe"+ infinitive?
I don't know when to use "habe"+infinitive to make Perfekt and when to use its original Perfekt in this case "bin gegangen".
[ich] habe gehen müssen, ich bin gegangen mussen
And also i don't understand why do we use "müssen" ( i don't get the infinitive + infinitive)
I would be grateful if you could also give the equivelents of these tenses in English