One way is to read a lot of simple stories written in present perfect tense. For example, 'I have lived in this city for five years.' Notice how the action started in the past and has a connection to the present. Try to understand the time expressions often used with it, like 'for' and 'since'.
You can start by writing your own short stories using the present perfect. Let's say you want to talk about your travel experiences. You could write 'I have visited many countries. I have seen beautiful landscapes.' This helps you internalize the structure. Also, listen to English podcasts or watch shows where present perfect is used in stories. They often use it in a natural way that can be easily picked up.