What is the best way to learn how to use English prepositions properly?

Prepositions are one of the most difficult aspects of learning English. They don't have fixed meanings, they can change easily from context to context and they have a lot of different usages in different instances. Well then, how can a person learn English prepositions properly? Here are some facts and suggestions:

First of all, there is a grim reality that you have to accept. It is nearly (not totally) impossible for a non-native speaker to master some features of English completely. Prepositions are one of these features. As a non-native English speaker, I might be making some prepositional mistakes myself while I am writing this. You can even see native speakers talking about which preposition is the right one to use in a specific situation. That is why you have to accept that you can easily make preposition mistakes and as long as you are understood by other people, it is OK to do it. Our aim is going to be to minimize the amount of these mistakes.

Despite these problematic aspects, an English learner should try to master the usage of prepositions as best as he or she can. There is one way which is the simplest and the most effective is exposure.