Halliday & Matthiessen (2004: 423, 424):
A finite clause is in principle independent; it becomes dependent only if introduced by a binding (hypotactic) conjunction. If it is joined in a clause complex, its natural status is paratactic. In this case its logical-semantic relationship to its neighbour is typically shown by a linking (paratactic) conjunction. …
A non-finite clause, on the other hand, is by its nature dependent, simply by virtue of being non-finite. It typically occurs, therefore, without any other explicit marker of its dependent status. Hence when a non-finite clause occurs without a conjunction, there is no doubt about its hypotactic relation in a clause complex; but there may be no indication of its logical-semantic function.