Keep the action before the modal
The lexical infinitive names the action; the final modal gives its necessity, possibility or intention. Core modals take the bare infinitive, so do not add zu. The modal’s meaning still matters: wanting to help does not establish that help actually happened.
Nora hat helfen wollen.
Nora wanted to help.
The construction chooses haben
Ordinary gehen forms its perfect with sein. Once it is the infinitive governed by a modal in this construction, the finite perfect auxiliary is haben. Learn the whole group rather than transferring the auxiliary from the isolated movement verb.
Nora hat früh gehen müssen.
Nora had to leave early.
Qualify the verb-final shortcut
The subordinate clause still begins with its connector and ordinary participants. Inside the final group of verbs, however, finite haben stands before the two infinitives. This is a special verb-group pattern, not an ordinary main clause inserted after weil.
Sie war müde, weil sie lange hatte arbeiten müssen.
She was tired because she had had to work for a long time.
Practise this pattern
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References
Original explanations and examples informed by grammar references. Level placement is an editorial teaching choice.