verb and "to"

I think in the 16th or 17th centuries we might have said something like that, but the language is a bit more streamlined now.

as in

Mum made them wait.
Mum made them wash their hands
Mum made them tidy their room

The alternative usage is the infinitive:

There was no need to wait
She asked them to sit down and eat
She asked them to tidy their room

Simples.

This still doesn't answer why we say "told them to" or "asked them to" but the word "to" isn't used with "made them tidy the room".

This reply caused him to wonder.

There is no general rule-- the verbs "make" and "let" are exceptions. Usually it is verb + infinitive. In the case of "make" and "let" it is verb + root.

So much of English is exceptions. There is no reason (maybe there is a historical reason but darned if I know). You just have to learn the exceptions.