A simplified version of what Mentz said:
First, let's describe a static observer. A static observer is one who maintains a constant Schwarzschild "R" coordinate. Or if you don't mind a bit of distortion, a static observer "hovers" at a constant distance above the black hole. (If you want to be precise, the static observer hover's at a constant R coordinate value, which is not really a distance). Static observers exist at all values of R ABOVE the event horizon. Static observers do not exist at the event horizon.
If you look at the infalling velocity (measured with local clocks and rulers of a static observer), it will indeed approach c as a limit.
However, static observers can't exist at the event horizon, so while the velocity will exist in the limit, and approach 'c', no physical observer will ever see such a speed.
From the point of the view of the infalling person, the event horizon is light-like. It's a surface traced out by light. For someone familiar with SR, who realizes that light can't have a point of view, this is another demonstration of why you can't have an observer at the event horizion. The event horizon is like a light beam, it's what we call a "null surface". As such, while light can "hover" at the event horizon, no physical observer can.
If you're not familiar with SR, there are some FAQ's on the topic of why light doesn't have a "point of view". Hopefully they will help, I get the feeling some people still come away confused by this. But the FAQ is the simplest resoucre I know.
It's perhaps not critical to understand how the two things (light not having a POV and the lack of static observers at the evet horizon) are related - it's sufficient to know that the later doesn't exist.
If you want a detailed mathematical analysis,
https://www.physicsforums.com/showpost.php?p=602558&postcount=29 has one, though it does use geometric units where c=1.
Another poster has a similar analysis in the next post in the thread (#30) which comes to the same result.