For example, "I described the scene of him drive away."
I described the scene of him drive away.
- I described the scene of him/his driving away."
That said, I would write that sentence like this:
- I described the scene in which he drives away.
driving away is a gerund phrase, in the prepositional phrase introduced by of.
a gerund phrase is basically a type of noun phrase.
Other examples: playing tennis going out finishing work
Here are examples of one after the preposition of and about:
The story of his playing tennis on that roof court was so funny.
The lie about his going out was terrible.
So, no, a bare infinitive does not work, a gerund is needed.