Formal:
* Il faut que nous... (It is necessary that we...)
* Nous devons... (We must...)
* Nous sommes obligés de... (We are obliged to...)
Informal:
* On doit... (We have to...; this is a more casual and general form)
* Il faut... (We have to...; this is also informal and commonly used)
* Faut qu'on... (We have to...; this is even more informal and common in spoken French)
Examples:
* Formal: "Il faut que nous étudions pour l'examen." (We have to study for the exam.)
* Informal: "On doit aller au supermarché." (We have to go to the supermarket.)
* Very Informal: "Faut qu'on mange quelque chose." (We have to eat something.)
The choice of the correct phrase depends on the specific situation and the relationship between the speakers.