Hi Doug,
In Spain at least, we use both interchangeably. You can use both forms.
Examples:
♦ Mi perrita está aprendiendo a bajar las escaleras.
→ My puppy is learning to go down the stairs.
♦ No dejes que los niños bajen solos la escalera.
→ Don't let children down the stairs alone.
I really hope this helps you, Doug. Kindest regards.