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Theoretical explanation and a practical activity

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A video lesson: modal verbs to ask for permission

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Here's a mindmap including all modal verbs. In case you find it useful.

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Unit taken from the book "Destination B1" including all modal verbs connected to ability, permission and advice (with key)

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Ability, Permission, Advice - Destination B1

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Find here a document with examples from all modal verbs in a context.

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Watch this lesson from Oxford Online English

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How to Use Can, Could and Be Able To - English Modal Verbs for Ability

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Here's a summary table including all modal verbs. Find the ones connected to permission