英语中什么时候一句话中可以有两个动词

表示两个动作并列，同时发生
例：I'm doing my homework while he is watching TV.
表示正在做某事时突然发生了什么
例：I was cooking when I heard the phone ring.
表示动作先后发生
例：I walked into the room and turned on the light.
在副合句中主句和从句都有谓语时
例：I told her a thing she didn't know.
这是我总结的，希望能帮到你

You can always use more than one verb as you like.
Yout question is so general, and I cannot give you a decent definition strictly for that. Here are some simple examples.
I want to make it to work.(3 verbs, tips: a 'to' is necessary between each nearest 2 verbs)
I saw that cup when I came there.(In a subordinator sentence)

want to do,like doing

过去做的事把？
但是句子要通顺