“I can’t tell you how pleased I am to be here. I haven’t seen manyof you since your graduation, but I have followed your careers and enjoyed yourvictories as well as crying for your tragedies. I have a large collection ofnewspaper photographs of my students. Although I haven’t appeared in person, I have attended your college graduations, weddings and even the birth of your children, in my imagination.”

“It was my belief that if I pushed you as hard as I could, some ofyou would succeed to please me and others would succeed to annoy me. Regardlessof our motives, I can see that you have all been successful in you chosen path.”

As far as I learn, succeed is followed by "in doing" instead of " to do". So what do you make of this underlined sentence?

Please help me out!