AF-S Zoom-Nikkor ED 55-200mm f/4-5.6G DX with D3100?

How cud it be set the focus point to infinity in the particular lens. Will autofocus work nicely with D3100. Please post suggestions guys!

Any AF-S lens will work with your D3100.

To manually set the lens at infinity, place it in the manual mode and while looking through the viewfinder, focus on some thing that is at least 100 meters away. This is close enough for infinity during the day. At night, focus on the moon