I normally use fill in a blank on a form. So, I would say All you need to do is complete the/this form.
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tenjing You mean the verb 'be' is followed by plural verb, right?Followed by the infinitive. The infinitive clause is the complement of the main verb "be."
nazanin saryazdiI've read somewhere that we could say: all you need to do is to do sth or do sth ( but doing sth is not grammatical)Correct. The -ing form is only used with "doing".
tenjing One of the difficult parts of English is understanding modal verbs.Correct. You have to have a gerund in the case shown by the underlined sentence. There's no "what" or "do" in the first part.
Here, you can't say or write just 'understand', it should be a gerund. I think so.