We’ve already seen that Spanish infinitives don’t typically require a word like to; for example, in English we’d say I want to study, but in Spanish you can simply say Yo quiero estudiar.
However, there are certain verbs, such as aprender, ayudar, empezar, etc., that must be followed by a if they come before an infinitive.
Empezamos a trabajar en una fábrica el pasado lunes.
We started working in a factory last Monday.
Queremos salir a almorzar.
We want to go out for lunch.
Siempre te ayudo a estudiar inglés.
I always help you to study English.
When para is followed by an infinitive, it’s usually used to talk about the purpose for doing something.
Estudio mucho para encontrar un trabajo bueno.
I study a lot in order to find a good job.
Tienes que salir pronto para ir a la biblioteca.
You need to go out soon in order to go to the library.
Necesitamos encontrar la llave para abrir la puerta.
We need to find the key to open the door.
Me gustaría and quiero can both be used to talk about something you want to do. Me gustaría, which means I would like, is more polite, though quiero is more common in everyday interactions.
Me gustaría salir a almorzar.
I would like to go out for lunch.
Queremos aprender a volar un avión!
We want to learn how to fly a plane!