Step 1: Identify subject.
"To sing well" = infinitive phrase, treated as singular.
Step 2: Apply verb.
Singular subject → singular verb: "requires."
Step 3: Eliminate options.
(A) require – plural, incorrect.
(C) can require, (D) may require – modal changes meaning, unnecessary.
Identify the part of the sentence that contains a grammatical error:
Each of the boys have submitted their assignment on time.