Here's a lesson plan on gerunds and infinitives for elementary students. It covers some common verbs and some basic rules of gerunds and infinitives.
This lesson aims to interact whole class with various methods and activities to help students feel more comfortable with this grammar issue. It has aroused from the constant complaints of students who beg a rule to understand gerunds and infinitives. You can accompany this lesson with this exercise. A suggested answer key is also included.