I'm not sure if I understand your question completely, but lots of verbs can have the "-ing" ending (maybe all, I can't think of any that aren't able to have that ending), and "to - verb" is the infinitive form.
You can say, "I want to stop." "Or I am stopping." "I need to remember." "I am remembering a little." "I need to walk so I can lose weight." "I am walking right now." When you use, "to - verb" you need to put another verb before it such as "need" "able" or "want". When you use the "-ing" ending for verbs you need to use a "be" verb before it, such as: "is" "am" "was" "has been" "are"...etc. There may be some exceptions but I can't think of any right now. I hope this helps!