lie, lay (lied), lain (lied)

Lie has two meanings.

*) When it means to put your body in a horizontal position (normally on a bed), it uses the lie, lay, lain.

*) When it has the meaning of saying something that is not true, it uses the lie, lied, lied.

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Lie/lay/lain vs Lay/laid/laid

Lie/lay/lain is used without an object.
Lay/laid/laid must have an object:

e.g.
I’ll lay the table then we can eat.

We love to just lie on the beach.

The meaning of "lie"