This is a tricky aspect of English verbs. Some verbs are always followed by the infinitive, others always by the ing, and others can be followed by both, this is by the ing and by the infinitive. When this occurs, there is usually a change in meaning from one form to the other. Check this video and see how clearly this BBC presenter explains it.
This second video explains clearly the difference between a gerund and an infinitive and gives some examples of their use with he verb "STOP" CHECK IT OUT