In the past, did covers every subject: We did the laundry yesterday, He did too. In the present, the form follows the subject: I do, you do, they do, but she does, he does, it does.
Either form can work when a habit is current; push the sentence into last week and did takes over.
Paired sentences, minimal changes
In the past, did covers every subject: We did the laundry yesterday, He did too. In the present, the form follows the subject: I do, you do, they do, but she does, he does, it does.
The two forms also meet in one sentence about a current habit. She does the dishes every night and She does help with the dishes both work...
A practical note for the choice: in a past question, did carries the tense, so the main verb stays in its base form. Did she call you?, never Did she called you?.
One boundary worth knowing: be and modal verbs form questions on their own, with no do, does, or did at all. Was she there?, Could she call? Notice that no form of do appears in either question.