A 'simple rule'? I don't know about that. But you would normally start a sentence with either 'Did you...' or 'Have you...' followed by another verb. If this verb is in the basic form (by which I mean the infinitive minus the word 'to') then 'Did you' is the correct start. If the verb is a past participle, then use 'Have you'. (Be careful of the verb 'to be', though, as you would never say 'Did you be...'.)