Depending on the verb we use in a sentence, it can be followed by an infinitive or a gerund form, as we can see in the following examples:
We enjoyed visiting them.
They agreed to help us.
What we need to know is how to use the correct form in a sentence, that is to say, do we need an infinitive or a gerund? With the next links, you'll be able to learn a little bit more about this topic and practice it with some exercises.
http://teachersites.schoolworld.com/webpages/alfonsolopez/files/gerunds%20and%20infinitives_teor%C3%ADa%20y%20ejercicios.pdf
http://prep.ibu.edu.ba/assets/prep/userfiles/grammar/Gerund&infinitive.pdf
http://www.iesdonbosco.com/data/ingles/gerundios-infinitivos.pdf
http://iesunivlaboral.juntaextremadura.net/web/departamentos/ingles/recursos/Gerund%20or%20Infinitive.pdf
http://eoimeetingpoint.wikispaces.com/file/view/Gerund%20and%20Infinitive%20Exercises.pdf
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