When the verb is transitive you have to use a perfective form in positive sentences, like in
Мне нужно это найти.
As suggested by Баян Купи-ка in the comments imperfective form is also valid here when you talk about some stretched in time duty:
Мне нужно находить решения, приемлемые для всех - I [always] have to look for solutions, suitable for everyone.
In negative sentences you use imperfective verbs:
Мне не нужно этого находить [, чтобы принять правильное решение].
When the verb is intransitive you can use both perfective and imperfective forms in positive sentences:
Мне нужно идти. Мне нужно уйти. - I have to go (leave).
In negative sentences you use imprefective verbs:
Мне не нужно уходить.
Notice that perfective/imperfective aspect is often connected with "transitiveness", so sometimes you have only one option.