Heavy quarks are sensitive probes of the colour-deconfined medium formed in ultra-relativistic heavy-ion collisions, the Quark--Gluon Plasma (QGP). The ALICE Collaboration measured the production of $\rm D^0$, $\rm D^+$, and $\rm D^{*+}$ mesons in $\rm Pb-Pb$ collisions at $\sqrt{s_{\rm NN}}=5.02$ TeV. The properties of the in-medium energy loss are investigated via the measurement of the nuclear modification factor ($R_{\rm AA}$) of non-strange D mesons. The modification of the D-meson transverse momentum ($p_{\rm T}$) distributions inside the jet is studied via the measurement of the D-meson tagged jet $R_{\rm AA}$ in central $\rm Pb-Pb$ collisions. In mid-central collisions, the measurement of the D-meson elliptic flow ($v_2$) at low and intermediate $p_{\rm T}$ gives insight into the participation of the charm quark in the collective motion of the system, while at high $p_{\rm T}$ it constrains the path-length dependence of the energy loss. The coupling of the charm quark to the light quarks in the underlying medium is further investigated with the application of the event-shape engineering (ESE) technique to D-meson elliptic flow.