Theory:

When 2 verbs appear together in a sentence, the first verb controls the form of the second verb, which can either be in the infinitive form or the ING form:

I WANT to DRINK some water.

I ENJOY SINGING.

The verb WANT only allows the second verb to be in the infinitive form, whereas the verb ENJOY only allows the second verb to be in the ING form.

Some verbs accept both forms:

I like TO SING and I like DANCING.