We perform statistical analyses to study the infall of galaxies onto groups and clusters in the nearby Universe. The study is based on the UZC and SSRS2 group catalogs and peculiar velocity samples. We find a clear signature of infall of galaxies onto groups over a wide range of scales 5 h^{-1} Mpc<r<30 h^{-1} Mpc, with an infall amplitude on the order of a few hundred kilometers per second. We obtain a significant increase in the infall amplitude with group virial mass (M_{V}) and luminosity of group member galaxies (L_{g}). Groups with M_{V}<10^{13} M_{odot} show infall velocities V_{infall} simeq 150 km s^{-1} whereas for M_{V}>10^{13} M_{odot} a larger infall is observed, V_{infall} simeq 200 km s^{-1}. Similarly, we find that galaxies surrounding groups with L_{g}<10^{15} L_{odot} have V_{infall} simeq 100 km s^{-1}, whereas for L_{g}>10^{15} L_{odot} groups, the amplitude of the galaxy infall can be as large as V_{infall} simeq 250 km s^{-1}. The observational results are compared with the results obtained from mock group and galaxy samples constructed from numerical simulations, which include galaxy formation through semianalytical models. We obtain a general agreement between the results from the mock catalogs and the observations. The infall of galaxies onto groups is suitably reproduced in the simulations and, as in the observations, larger virial mass and luminosity groups exhibit the largest galaxy infall amplitudes. We derive estimates of the integrated mass overdensities associated with groups by applying linear theory to the infall velocities after correcting for the effects of distance uncertainties obtained using the mock catalogs. The resulting overdensities are consistent with a power law with delta sim 1 at r sim 10 h^{-1}Mpc.
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