Hear/saw + object + bare infinitive/present participle
Incorrect : I heard her to sing a song.
Correct : I heard her sing a song. Or I heard her singing a song.
Note: If the verb 'see', 'hear”, “watch', 'feel' etc are used in the active voice and followed by an object and an infinitive, “to” is not used before the infinitive. For example:
I saw him cross the road.
I watched them play cricket.
I felt his heartbeat.
But when these verbs are used in the passive, the infinitive sign “to” cannot be left out. For example:
He was seen to leave the house.
She was heard to speak in English.
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