how do you say "henry said drive the car" using the to iteimas ending?

Thank you for using the Jiskha Homework Help Forum again. Sorry, but I do not understand the grammatical term "to iteimas ending." Hopefully the following Japanese Grammar link will help you:

http://www.gu.edu.au/school/lal/japanesemain/JP_Res/JP_Res_control/grammar_frame.html