Dürfen is the modal verb we use to say “may.” You might also think of it as translating to “to be permitted to” in English.
Here are a few examples of the verb dürfen, with and without a secondary infinitive verb. (When relevant, I’ll also include a literal translation with the word-by-word sentence order, to better illustrate the differences between English and German word order.)
Er darf Fußball nicht spielen.
He may not play soccer. / He is not permitted to play soccer. (Literally: “He may soccer not play.”)