Take the '-masu' ending off the verb, leaving the stem (e.g. 'kaemasu --> kae-') and just add '-te'. The '-te' form is extremely useful: combine it with 'kudasai' to ask someone to do something, with 'imasu' to show ongoing action, with 'shimaimasu' for finishing actions, amongst other things.
Verb with the syllables below in the root form the '-te' form slightly differently (the resulting '-te' forms are on the right). My teacher taught us to sing these to the tune of 'London Bridge is falling down' (ichiritte bimininde, bimininde, bimininde, ichiritte bimininde, kiite giide shishite) and it's stuck, so why not try it!
i, chi, ri - tte
bi, mi, ni - nde
ki - ite
gi - ide
shi - shite (this includes 'shimasu')