‘Remember’ is a confusing verb because learners get confused with infinitives and gerunds (~ing verbs behaving as nouns).

Remember + noun phrase

The easiest way of using ‘remember’ is with nouns or noun phrases.

I remember you.

I remember the time we went to the zoo.

Remember + infinitive

When an infinitive follows remember it refers to an uncompleted action (or an action not yet begun).

I must remember to post that letter tomorrow.

Did you remember to buy milk?

Remember + gerund

This refers to a completed action in one’s memory.

I can’t remember locking the door. I hope I did it.

I remember visiting Spain every time I drink sangria.

You can also use the present perfect after ‘remember’ by using ‘having’ followed by the participle form of the main verb.

I remember having sent the letter because I sent my mother’s birthday card at the same time.

Do you remember having read the play at school we went to the theater to watch Blood Brothers?