Lay is a transitive verb that means to put something or someone into a reclining position. Transitive verbs are always followed by a direct object. Thus, lay must always be followed by a noun or pronoun that answers "whom" or "what" to it -- a receiver of its action.
Correct
Since lay takes a direct object in this sentence (clothes), it is the correct verb to use here.
Incorrect
Since lay does not have a direct object in this sentence, it is not the correct verb to use here.
Lie is an intransitive verb that means to put oneself in a reclining position.
A verb is intransitive when it has no direct object. Since lie is intransitive, it may never be followed by a direct object (a noun or pronoun that answers "whom" or "what" after an action verb).
Correct
Incorrect
Since clothes functions as the direct object in the above sentence, the verb lie is incorrect. The correct verb to use is lay.
Using "I" as a subject, one can form the tenses for these two verbs as follows:
I lay (something)
I laid (something)
I am laying (something)
I have laid (something)
I
lie
I lay I
am
lying
I have lain
As you can see, when it forms its tenses, the verb lay works just like the verb pay:
I
lay
I
laid
I am
laying
I have laid
I
pay
I
paid
I am
paying
I have paid
However, the verb lie is very irregular.
In fact, what makes these two verbs especially tricky is that the past tense of lie looks exactly like the present tense of lay.
I
lie
I lay
I am
lying I have lain
I lay (something)
I laid (something)
I am laying (something)
I have laid (something)
Example - lie, present tense
Example - lie, past tense
This similarity between the two verbs causes much confusion in their use.
Remember: Lie is
intransitive and, therefore, is never followed by a direct object.
Lay is transitive and, therefore, is always followed by a
direct object.
AND
The past tense of lie looks exactly like the present tense of lay.
Link to exercises on lie / lay.