There are two verbs in the sentence. Want is a finite verb as it is in the present tense. To read is an infinitive, a present active infinitive to be precise.
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AnonymousWhat is the verb in the sentence above?The sentence contains two verbs, want and read. Want is the verb of the main clause I want to read that book and read is the verb of the infinitival clause to read that book, which functions as catenative complement (not object) to the catenative verb want.