19.1.3.3 Position of the subject is after the first conjugated verb
Examples
Ils peuvent faire ce qu' ils veulent. =>
Peuvent-ils faire
ce qu' ils veulent?
They can do, what they want. =>
Can they do, what they want?
Ils ont pu faire
ce qu' ils voulaient. =>
Ont-ils pu faire
ce qu' ils voulaient?
Could they do, what they wanted? =>
Could they do, what they wanted?
Ils ont lu un livre. =>
Ont-ils lu un
livre?
They have read a book. =>
Have they read a book?
The subject is in inverted clauses after the first conjugated verb. If there are other pronouns in the clause, everythings stays as described in the chapter Pronouns. They are before the first conjugated verb, but in any case before the infinitive.