If you're already using HubSpot, you've probably already done this. The HubSpot tracking code is essential for sending website traffic data to HubSpot. You can install this code in various ways, including through Google Tag Manager. Follow the steps provided in this HubSpot support document for guidance.
Step 2
Over in Google Tag Manager, set up a Tag that "listens" for form submissions in GTM.
Set the Tag Type to Custom HTML and paste the following code. (You shouldn't need to change anything.)
See an example form listener tag, here.
Still in Google Tag Manager, create a Trigger that fires when somebody submits a form. All your other tools that need to know about form submissions — like Google Ads and Meta Ads — will reference it.
In Trigger Configuration, select Custom Event and set Event Name to hbsptFormSubmit. Set it to fire on all custom events.
See an example form submit trigger, here.