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The actions made by subject which has completed situation called finite verbs.
Eg: She walked home. He walked is a completed action so, it is a finte verb.
The actions which are going to be continued or to be happened which made by subject is called Infinite verb.
I need to go to sleep. Here it is hoping that the action will be happened in future. so it is an infinite verb.
     It is raining. Here it is going on and we cant estimate when it will be stopped. So, it is an infinite verb.
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