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This question has been rounding my head for a while, id say help me cook but then i think about omitting "to" which i think isn't correct. Can you give me more examples about this situation.

Thanks in advance

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Context is important in English. However ignoring context, I can make this generalisation:

help me cook

This would be said by someone who is in the kitchen and requires assistance in preparing a meal.

help me to cook

This would be said by someone who is a novice cook and wants to improve their skills over time.

Note

Context could override the above.

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