Infinite Scrolling

Yes, you can add support for infinite scroll yourself.
You’ll need to add a custom function, so you should create child theme first. Then add this to child theme functions.php file:

function gamepress_jetpack_setup() {
	add_theme_support( 'infinite-scroll', array(
		'container' => 'main-content',
		'footer'    => 'prefooter',
	) );
}
add_action( 'after_setup_theme', 'gamepress_jetpack_setup' );

More info: http://jetpack.me/support/infinite-scroll/
You’ll see that Jetpack adds footer to the bottom of page, and you’ll probably need to style that.