hi !
How do you say " I am going to clean the kitchen later"
"Je vais nettoyer la cuisine plus tard"
nettoyer stays at the infinitive form :
the rule is when 2 verbs are following each other , the second one has to be infinitive (not talking about compound tense with auxiliary + past participle)
exemple :
je pars me coucher/ je suis parti me coucher
je vais bientôt rentrer
Je le vois partir/ je l'ai vu partir
Hope this helps !
