One way to wait on support, together with infantry (4,3,4)

I believe the answer is:

hand and foot

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'one way to wait' is the definition.
I can't judge whether this defines the answer.

'support together with infantry' is the wordplay.
'support together' becomes 'hand' (I am not sure about this - if you are sure you should give a lot more credence to this answer).
'with' becomes 'and'.
'infantry' becomes 'foot' (foot soldiers).
'hand'+'and'+'foot'='HAND AND FOOT'

'on' acts as a link.

Can you help me to learn more?

(Another definition for hand and foot that I've seen is " with assiduous attention".)

I've seen this clue in the Sydney Morning Herald.

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