Think of present perfect as a 'bridge' that connects the past with the present. It is most often used to refer to past actions that have no definite time frame.
My students usually *click* onto the differences when I tell them that:
a) Past simple is for FINISHED past actions. We know exactly WHEN it happened.
Example:
I MET my friends in town LAST NIGHT.
b) if I were to use present perfect I could say something like
I HAVE MET him BEFORE.
This meaning is different. It means I met him sometime in the past but I don't say exactly when.
I also tell my students how useful time references are for helping you to identify the right tense in exams or for helping you to speak correctly and fluently.
a) For finished past actions - past simple:
Yesterday, last night, last week, last year, ten years ago, a minute ago, a second ago ....etc.
What do these time references all have in common?
Answer: they refer to SPECIFIC times in the past.
b) Present perfect:
just, before, never, ever, recently, lately, for, since, etc.
Examples: I have JUST finished my assignment.
( We understand that he/she finished it in the recent past - but we don't know EXACTLY when.)
Another example: I have never seen him before.
So, the first steps for you in clarifying when to use past simple and when to use present perfect are:
1) understanding the basic usages as explained above.
2) learning how to use the time references in sentences - for example, how we use 'since' and 'for' needs some understanding and practice.
3) Practise by using interactive quizzes online and speaking to a teacher of your choice till it *clicks*.
You know you have mastered a grammar point when you can express yourself easily without over-thinking the point. It should just flow easily. This is why speaking practise and games are so important. Grammar exercise alone are not enough. Many students *know* grammar rules off by heart but still can't speak fluently.