Bare infinitives

The bare infinitive (an infinitive without 'to') is used after certain verbs which are followed by an object: let, make, see, hear, feel. My parents didn't let me watch TV at night. Did you see anyone enter the building? He made me laugh.

The bare infinitive is used after modal verbs: can, should, could, might, may, etc.
He can't sing. It might be a good idea.

The bare infinitive is used after had better/would rather/would sooner.

I would rather drive.

Full infinitives
We use full infinitives after certain verbs, including agree, arrange, decide, offer, seem, plan, want, need, promise, hope, refuse.

I have decided to lend him the car. He offered to help me. He promised not to say anything.

We also use full infinitives after certain verbs and their object: ask, tell, want, need. He asked me to go there with him. She told me to help her.

We also use full infinitives after certain verbs and expressions: ask, decide, explain, find out, learn, want, want to know, etc. when follow by a questions word (except for why).
He learn how to ski.

Full infinitives
We use full infinitives after adjectives which describe feelings (happy/sad) or express (un)willigness (reluctant/willing), and after the adjectives lucky and fortunate. I was lucky to find a place to park.

We also use full infinitives after would like, would prefer and would love.

I would like to go to the movies.

Gerunds
We use gerunds after certain verbs: admit, appreciate, avoid, continue, deny, like, go, imagine, mind, miss, quit, suggest, practice, consider, prevent.

I dont mind talking about this.

We also use gerunds as nouns. Exercising is good for your health.

After love, like, enjoy, prefer, dislike, hate to express a general preference. I enjoy walking in the morning.