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An Infinitive Phrase is a group of words consisting of an infinitive and the modifier(s) and/or (pro)noun(s) or noun phrase(s) that function as the actor(s), direct object(s), indirect object(s), or complement(s) of the action or state expressed in the infinitive, such as: We intended to leave early.
Their most often use is non-finite verbs. In traditional descriptions of English, the infinitive is the basic dictionary form of a verb when used non-finitely, with or without the particle to. Thus to go is an infinitive, as is go in a sentence like I must go there (but not in I go there, where it is a finite verb).