The first one is grammatically correct "Paco tiene que limpiar su ba<span>ño."</span>
Miguel y Elena (cerrar) la puerta<span>.
Translation:
Miguel and Elena (to close) the door.
The infinitive must be conjugated according to the subject, which is plural (Miguel and Elena). It must also be in present tense. The conjugation of cerrar for a plural subject in present tense indicative is cierran.
Answer:
</span>Miguel y Elena cierran la puerta.
Waiting for your server to come to you.
