There should be sample lists of each in your grammar book: ( 1 ) verbs which take only the to form as complement, ( 2 ) verbs which take only the -ing form, ( 3 ) verbs which take both and have the same meaning, and ( 4 ) verbs which take both and produce different meanings. As far as I know, the reasons are purely historical: some verbs do and some verbs don't. Consider is in group #2.
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