To give a short answer to a question with the verb want, we say:

Do you want to come with us?
-Yes, I do.

Is it also possible to say:

Do you want to come with us?
-Yes, I want to.

  • 1
    Related question, In reply to “Do they have…”, which is correct — “yes, they do” or “yes, they have”?. I would prefer answering the question with "Sure", "Of course", or "Why not". If there are only two choices, I would definitely use the auxiliary verb, do. – user24743 Jan 5 '16 at 9:49
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    I've rarely seen a short answer with the second option. I don't know whether native speakers find it regular or unused. It'd be good to see an explanation since other examples can be shown as Do you take your medication? — Yes, I take it. – Alejandro Jan 5 '16 at 11:25

As a native speaker of American English, I would most likely say

Yes, I do.

I could be a little more emphatic and say

Yes, I sure do.

If I wanted to use want I would most likely still use do:

Yes, I do want to.

But I would not say that often, and usually only when some person or some circumstance has cast some doubt on whether I want to.

The other option

Yes, I want to.

is not wrong, but it is probably the version I would least likely say. I may use it when I want to come but can't actually do so:

Yes, I want to, but I can't.

Instead of Yes, I do want to I could also say

Yes, I do do.

which means the same (emphasizing that I do actually want to go). However, this can be problematic, as do do sounds like doodoo, which is a slangy, child directed, or childish synonym of poopoo (excrement). So I wouldn't advise saying this unless you and the people you are talking with averse to any reference to this homonym, unless you wish to make a childish joke.

  • The "sure do" thing is fine but not really necessary. I speak AmE and rarely say that. And certain verbs in English allow for repeating the main verb + to in the answer so the auxiliary does not have to be used: Would you like to come to the movies? A: Yes, I'd like to but can't. And "Yes I do want to" the emphatic form, is when there is some question about whether the person really wants to go. And "I do do" is a thing I have never ever heard in my entire life. What I have heard is: Yes, I do, I do. – Lambie Feb 29 '20 at 20:23

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