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Or does it always take an infinitive form?

Ex.: Is "I happen to be doing this at the moment" correct or should you say "I happen to do this at the moment"?

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    To be doing is an infinitive form. – green_ideas Aug 8 '17 at 17:00
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    The form of the verb is exactly the same as the sentence without happen to: "I happen to be doing X" is the same as "I am doing X" and "I happen to do X" is the same as "I do X". It is a question of differentiating between at this moment and occurring regularly. – Andrew Leach Aug 8 '17 at 17:49
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Both are grammatical:

I happen to have her address if you need it.

I happen to be playing pocket billiards again, now that my thumbs have healed.

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