Three pairs of verbs require special study and drill because they are more difficult to use correctly than any other verbs. These special verbs are lie, lay, sit, set, rise, and raise. Most difficult to use correctly are the verbs lie and lay.
If you do not habitually use these verbs correctly, you must begin your work on them slowly and thoughtfully. Only by taking time to think through each form you use can you eventually establish the habit of using the verbs correctly.
Warriner’s English Grammar and Composition