Question about verbs and pronouns in language transfer course

In track 30, the male speaker asks what we are not going to remain ourselves is. Why is this translated to No vamos a quedarnos. Why is it not quedamos?

Is there a rule where you leave the 'to' form of the verb and then add the pronoun, that I have missed?

I keep seeing/hearing the author add te/me/nos onto the end of the 'to' form and I cannot understand what the rationale/rule is

Cheers

submitted by /u/Abela11
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