Tom rode his bicycle to school. When you add DO to a sentence to form a question, it takes over the jobs of agreeing with the subject and of telling us when the action takes place. Take goes back to the simple present form. The original verb, rode , changes back to the simple present form, ride. English only needs one verb in a sentence to show the tense and to agree with the subject.
Henry paints the house carefully.
They went to the theater last night. I play the piano well. Everyone enjoyed the concert. Third Person Singular in the statement. Past Tense in the statement.