Lay's most common meaning is "to place (something or someone) down in a flat position.”
Lie's corresponding meaning is "to be in a flat position on a surface."
Here's lay:
I was told to lay the book down.
I laid it down as I have laid other books down.
I am laying more books down now.
And here's lie:
I was told to lie down.
I lay down.
I have lain here since.
I'm still lying here.
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