The verb in the sentence is, to follow (his father's footsteps). This verb is used as an infinitive. An infinitive is a word in the verb form that functions as a noun, adjective or adverb. Infinitives are generally introduced by the word "to".
Notice how the word soliloquy is a bit like the word 'solo'. This is basically what it is: a solo in drama, where somebody is projecting their inner thoughts. This gives the audience direct access to the character's feelings.
Can you put underlines in the sentence so i can help you answer