Inerrancy, taken to its logical end, results in the impression that we can learn all we need about life and doctrine from Scripture apart from God. Infallibility requires that we trust in God (the living author) to speak through the text (indeed, even in spite of its pre-scientific notions). We don’t trust Scripture because it is without “error” (i.e., without cultural limitations); we trust its message because it is from God.
From a blog post about inerrancy and infallibility at the website Becoming Creation.