in ‘simplistic’ terms, an infinitive is a verb not used as a verb.
that should make the answer obvious since there are only 2 ‘verbs’ in the sentence, and only one denotes action.
example–i want to learn.
on their own, ‘want’ and ‘learn’ are verbs, but in the context above, only want is a verb.
i won’t give you a fish. it’s time you learned to fish. (there’s an infinitive there, too. 🙂