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Lexical Functional Grammar (LFG) is developed to understand the syntactic and semantic structure of Urdu modal verbs from a corpus. The most popular tool XLE for parsing is used to implement LFG and analyze the results. Published literature of modal verbs in Urdu is very much short and limited in nature; however, modal verbs in Urdu are identified and collected from Urdu literature and English literature by translation. A huge corpus is analyzed and sentences including modal verbs like `UW', `UL' etc are extracted from the corpus. Rules are extracted from these sentences and finally, lexical functional grammar for these sentences is developed which provides syntactic and semantic structure of sentences.