At t=0, the capacitor is a short circuit so the entire battery voltage will be across the 1000 Ohm resistor at t=0+ (an infinitesimal period after t=0).
At t=infinity, the voltage across the capacitor will be the same as the voltage drop across the 100 Ohm resistor and this would be
10V*(100/(100+1000)) or about 0.091V.
The time constant (tau) is based on the 100 uF capacitor and the parallel resistance of about 91 Ohms or about 9.09 ms. Six tau will result in the capacitor being very close to fully charged.
It's always useful to simulate the circuit with something like LTSpice just to be certain you understand what is going on.
The red trace is the voltage across the capacitor as a function of time gained by subtracting the green trace from the blue trace. The blue trace is 10V and the green trace is the output voltage as a function of time. It starts at 10V because the capacitor looks like a short circuit and decreases as the capacitor is charged and the 100 Ohm resistor becomes more of a factor in the voltage divider. It ends up at about 9.1V (9.090909V).