The vast majority of verbs will take 'avoir' when using the passe compose. This tense is used to describe something that has happened in the past. It is the equivalent of saying for example, I have jumped. In French, for some verbs you will use avoir to say this, and for others you will use etre.
To identify the etre verbs, you can use a well known acronym to help you learn. This is known as 'Dr and Mrs Vandertramp' and the verbs are as follows:
Devenir (to become)Revenir (to come back)Monter (to go up)Retourner (to return)Sortir (to go out)Venir (to come)Aller (to go)Naître (to be born)Descendre (to go down)Entrer (to enter)Rentrer (to go home/to return)Tomber (to fall)Rester (to remain)Arriver (to arrive)Mourir (to die)Partir (to leave)