Use do with I, you, we, they and does with he, she, it. I and you are singular in form, yet both pair with do, because they take plural verb forms: Do you know? and Does she know?.
Joined and indefinite subjects are the usual exception to watch. Does anyone know? treats anyone as singular, but Do any of you know? points at the group, and a pair like Tom and I takes do: Tom and I do agree.
Same sentence, both sides
I do the dishes on Fridays. The subject is I, so it takes do. Change the subject only: She does the dishes on Fridays. Same chore, same routine, but a third-person subject needs does.
Do they live nearby? Asking about more than one person, so do opens the question. Swap in one friend instead: Does he live nearby? A single he, she, or it pairs with does.
Does the bus stop here? The bus counts as it, so does fits. Do the buses stop here? Make it plural and do steps in. Watch the main verb either way: it stays in its plain form, no extra -s after does.
Tom and I do agree. A joined subject acts as one plural group, so it takes do, even though each half alone would differ.