José y Pedro van a cantar esa canción.
[tex] \boxed{ \bold{Explanation}}[/tex]
It is written "cantar" in the infinitive, because it is a verbal periphrasis. A verbal periphrasis is two verbs that form the core of a predicate. The verbal periphrasis must have:
[tex] \overbrace {\text{van}}^{verb} \: \overbrace {\text{a}}^{preposition} \: \overbrace {\text{cantar}}^{verb} [/tex]
If it wasn't a verbal periphrasis, it could have been "cantan" (the tense would have to be present).