It really depends on how the verb is used in the sentence to answer your question properly. A finite verb is a verb that has tense and that can stand alone as the verb of a sentence. Every sentence must include a finite verb, so they are going to be much more common and easy to spot when you know what to look for.
The best way to discover a finite verb is by going through the non-finite forms.
1. Is the verb used as a noun?
2. Is the verb preceded by to?
3. Is the verb used as an adjective?
If all of those are no, then it's finite.
I'll give some examples:
I finished the homework.
1. Is finished used as a noun? Nope, verb.
2. Is finished preceded by to? Nope, I is there.
3. Is finished used as an adj? Nope, verb again.
So finished is finite in this example.
I need to finish the homework by tomorrow.
1. Is finish used as a noun? Nope.
2. Is finish preceded by to? Yep.
3. Is finish used as an adj? Nope.
Because it was preceded by to, finish is non-finite.
What is the finite verb? Need.
Roslin ate baked chicken for lunch.
1. Is baked used as a noun? Nope.
2. Is baked preceded by to? Nope.
3. Is baked used as an adj? Yes.
Because it's describing the chicken, baked is non-finite.
What is the finite verb? Ate.
Roslin baked a chicken for lunch.
1. Is baked used as a noun? Nope.
2. Is baked preceded by to? Nope.
3. Is baked used as an adj? Nope.
No to all, which means baked is finite.