Video replays to help referees make key decisions are set to be used at this year's World Cup in Russian Federation after the system was approved by soccer's rule-making body IFAB on Saturday.
Infantino said during a press conference to announce the decision that "VAR would have a positive impact on the World Cup".
VAR is now used for reviewing, goals, red cards, penalties and cases of mistaken identify has been tested well across world football, mainly in Australia and Brazil.
"As of today, the VAR system is part of football", he said.
"It's hard for people to argue that if you've got a system which fairly efficiently can correct clear and obvious errors which affect the outcome of matches that we shouldn't use that", he said.
Halsey said he could not understand why the referee did not go and look at the monitor on the touchline.
This is expected to be a formality, with Infantino spearheading the charge for the use of VAR at the tournament.
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"I am sure all those who are studying it carefully - really digging into it, looking it as we have done - they will be convinced about the benefits".
Fifa holds four of the eight votes on Ifab - the others are split between the four British national associations. "We came to the conclusion that VAR is good for football, good for refereeing, it brings more fairness to the game".
Italy's Serie A and Germany's Bundesliga are the only leagues among Europe's top five leagues to be already using VAR, both leagues debuting the technology this season.
VAR has been a huge problem since it was first trialed on the world stage at last summer's Fifa Confederations Cup in Russian Federation. I can guarantee our referees which will be at the World Cup will be ready.
Football lawmakers have also approved further trials of red and yellow cards for coaches or team officials who behave poorly on the touchline following theIFAB initiative 'Play fair!', aimed at improving behaviour and increasing respect.
The organisation also explained that its match officials would begin to get to grips with the offline phase of VAR from this weekend onwards in preparation for its use from next season. Those reservations clearly didn't affect proceedings as the final decision remained unanimous.
It is a decision which many feel could have a fundamental effect on the game, as trials of the system have already shown.