Here’s the Dorian Mode, Scale or whatever you want to call it! It’s used over Minor Chords and is commonly used in Rock, Jazz, Blues, Country… all sorts of stuff! Start and end on the root… always!
Here’s the formula for Dorian: 1 2 b3 4 5 6 b7!
In the key of D the Notes would be: D E F G A B C
Let me know if you have any questions!