Isn't it grammatically wrong to use two infinitive verbs in a row as "is reach" here?
Good question! Actually, Chandler intends to say “All I need to do is [to] reach over,” but the “to” has been omitted while speaking. Note that is common to omit words like this while speaking! Ex: All you need to do is [to] finish your homework before school. Ex: All I need to do is [to] reach over.
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