Can a verb follow another verb directly?

[Aleaf]

I like watching TV
He wants to know your name.
In english,generally speaking, when a verb follows another verb, the verb needs to make some transform. The transformed verb is called non-finitive verb such as watching and to know in the above two sentences.
But i also notice some sentences such like
"Let's go buy something."

"Skimming helps double your reading speed."
Is it common in english?
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Try to change youself before you try to change others.

[Mister Micawber]

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Yes, it happens with certain verbs. 'Go', 'come', and 'help' are probably the commonest.
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Native English teacher at Mister Micawber's