Infinitive (to+verb), Gerund (verb+ING) or BOTH? (for Beginners)

Whenever we use two verbs together in English, the second verb must change to either an infinitive or gerund, or sometimes it can be either one.  For example:

I enjoy have a coffee after dinner.
I enjoy to have a coffee after dinner.
I enjoy having a coffee after dinner.

I need buy a dress.
I need buying a dress.
I need to buy a dress.

I like go to the beach.
I like to go to the beach.
OR
I like going to the beach.

These examples represent the three groups of verbs below:

1. gerund ONLY (verb+ing)
2. infinitive ONLY (to+verb)
3. gerund OR infinitive 

Here is a short list of the most commonly used verbs that correspond to one of these three groups.

1. The following verbs MUST be followed by a gerund (verb + ing)

• can't stand (really don't like!)
• enjoy
• finish
• give up
• go + activity (swimming, surfing, shopping, dancing, sightseeing...)
• recommend

      2.  The following verbs MUST be followed by an infinitive (to + verb)

• forget
• learn
• mean
• need
• try
• want

      3.  The following verbs can be followed by a gerund (verb + ing) OR an infinitive (to + verb)

• begin
• can't stand
• hate
• like
• love
• prefer