Je veux parler.
I want to speak.
Tense guide
Infinitive
The dictionary form of the verb, used after many other verbs and prepositions.
When to use it
Use it when the verb is not tied to a subject yet: je veux partir, il faut étudier, merci de venir.
How to recognise it
It usually ends in -er, -ir, or -re: parler, finir, prendre. It does not change for je, tu, il, nous, vous, or ils.
How to form it
This is the base form. Conjugated tenses are usually built by removing the infinitive ending or using the infinitive as a stem.
A simple rule
After modal-like verbs such as vouloir, pouvoir, devoir, and aller, the next verb is usually an infinitive.
Examples
Apprendre prend du temps.
Learning takes time.