Can we say ‘listen to somebody do something‘?

I saw a sentence 'Listen to Lily welcome a computer consultant to her office.'. I've never seen a sentence like this before, so I try to analyze it.

 

I know 'listen to somebody/something'. So, I reckon it's 'listen to that...', 'Lily welcome a computer consultant to her office' is a that-clause. But if so, then the verb 'welcome' ought to be in the third person, which is 'welcomes'. So this can't be it.

 

We all know we can see/hear somebody do something. In fact 'listen to' is the same. They are all perception verbs. 'Welcome' here is an infinitive without to.

Example:

I saw her run away from the building.

Listen to Tom talk about his concerns.