Definition of finite verb :
A verb that has a subject, this means that it can be the main verbs in a sentences. It shows tense (past/present, etc) or number (singular/plural), A finite verb makes an assertion or expresses a state of being and can stand by itself as the main verb of a sentence.

Example of finite verb :
— I cook, she reads, Anto went
— Dina has eaten when Ria come in, By itself, the verb form eaten is called a non-finite verb When the auxiliary has and the non-finite verb eaten are put together, they make up a finite verb form has eaten.
— Tamara was walking. Walking is non-finite and was is to be. When they are put together, they make up finite form was walking.

Definition of non-finite verb :
A verb has no subject, tense, or number. The only finite verb forms are the infinitive (indicated by to), the gerund or the participle (present/past), nonfinite verbs must ordinarily combine with a modal , an auxiliary verb, or the infinitival particle to.

Example of nonfinite verb
— Verbs ending in -ing. These are called present participles, they were cooking in Sinta’s house.
— This non-finite verb form end in -ed; many also end in en. These are called past participles. I have written my letter ( the past participle written is non-finite and can’t be the main verb).
— Talking is the children’s favorite pastime. ( talking is a gerund, verb to be noun)
— I can’t afford to go out tonight.

The infinitive can have the following forms:
The perfect infinitive (to have + past participle)
For example: to have broken, to have seen, to have saved.

This form is most commonly found in Type 3 conditional sentences, using the conditional perfect.

For example:
— If I had known you were coming I would have baked a cake.
— Someone must have broken the window and climbed in.
— I would like to have seen the Taj Mahal when I was in India.
— He pretended to have seen the film.
— If I'd seen the ball I would have caught it.