How I learn English

I have been listening to lectures on coursera.org. Then the more I listen the more I can understand and hear the correct pronunciation. I try to write my own thoughts in a place like this :) Of course I have a lot of mistakes. But I think it is OK. If I don't try, I will never improve my English level. I use LingvoLeo for memorizing words and GoogleTranslate for translating words or sentences from Russian.
But I still can't find any cute systems for remembering English verb tenses. I know how verbs are formed as tenses in English, but I can't choose the correct form that relates to the situation.

I listen to a lecture - I do it every day
I listened to a lecture yesterday
I will listen to this lecture tomorrow (is it same with "I am going to listen to this lecture tomorrow" ?)
I am listening to a lecture - I am doing it right now
I have been listening to this lecture. I did it yesterday and I do it today. Is'n it?

If you have good way to remember when which form of verb must be used, please, let me know.

I also have a problem with prepositions. Tell me about your lessons which cover prepositions uses.
Thank you!

Very good.

You used listen, listened and listening correctly in your examples.

You need to say *listen to* when you are listening to something specific like a lecture, or listening to music, or listening to a friend speak.