"Vi måste stoppa soldaterna."
Translation:We must stop the soldiers.
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We have to stop is also an accepted answer. But måste is a strange word, it is used both for the present and the past tense. So in fact Vi måste … can mean both 'We have to …' and 'We had to …'. If you want to be clear you're talking about the past, many people do like you do and say *Vi var tvungna …' instead.