We use "must" and "have to" to talk about things that are necessary to do. They almost mean the same. We often use "must" for more personal ideas about what is necessary to do. For example: I must send Ben a letter (I really want to write to him). Must is also used in formal writing or notices. For example: Passengers must fasten their seatbelts.
We use "have to" for what somebody else thinks is necessary to do or rules that cannot be changed. For example: Mum said I have to send Ben a letter. (Mum wants me to write a letter). OR: You have to wear a school uniform in England.
"Must" is not used in questions, use "have to" instead!
For sentences in the past or future you also always use "have to" (in the correct tense). For example: I had to help Mum with the gardening yesterday (Past Tense). I will have to help mum with the gardening tomorrow (Future Tense).