When to use "visiting" and "to visit"

[Wendy]

Please read the following two sentences. Which one is correct and why. I would like to know when to use "to visit" and when to use "visiting."

A. For Thanksgiving, I went back to Seattle, WA, with
my 19-month old daughter, Kimberly, to visit my Mom

B. For Thanksgiving, I went back to my parent’s place with
my 19-month old daughter, Kimberly, visiting my Mom in
Seattle, WA,

Thanks,
Wendy

[Alan]

The infinitive form in your sentence with to means with the intention to. The gerund form visiting in your sentence is purely descriptive and simply means I was visiting.
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English as a Second Language
You can read my ESL story Phrasal Verbs/run