I don't think the first one is an error; it is merely informal. Both can also be phrased these ways: I cannot bear ( it) to see people being cruel to animals. She loves ( it) when you sing to her.
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imantaghaviHi,In the following sentence there is a mistake with the use of "preparatory it" and "it" after the verb "bear" should be omitted:"I cannot bear it to see people being cruel to animals"Since in the following one the use of "it" is correct:"She loves it when you sing to her"Why is it so? Is that because we have to use complement after "it" in the first example?A