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'To' infinitive is used after such verbs as: agree, arrange,
decide, offer, seem, plan, want, need, promise, hope, refuse, start, stop
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I have decided to lend him the car.
He offered to help me.
He promised not to say anything.
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'To' infinitive is used after certain verbs which are followed
by an object: ask, tell, want, need
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He asked me to go there with him.
She told me to help her.
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