As you may already know InfoPath 2013 was the last version of InfoPath family that Microsoft has released. But the good news is you can still use the 2013 version with Office 2016. And InfoPath 2013 will work with SharePoint Server 2016 as well.
In order to do the installation on Office 2016, If you already have the Office 2013 media proceed to Option 01 else move to Option 02.
Do a customized installation of Office 2013 where you can select only to install InfoPath 2013
You can download and install InfoPath 2013 (390 MB) from Microsoft Download Center using below link.