You already know about the two-way (Dative/Accusative) prepositions:

  an   in   unter
  auf   neben  vor
  hinter  über  zwischen

THE CASE YOU USE DEPENDS UPON THE VERB

                        ~~~~~~~

                Martin geht in das Haus.  [verb=gehen;  destination]

                Martin wohnt in dem Haus.  [verb=wohnen;  location]

                        ~~~~~~~

                Ich hänge das Poster an  die   Wand.  [verb=hängen;  destination]

                Das Poster hängt an  der   Wand.   [verb=hängen;  location]

In general, prepositions are some of the most difficult things in a language to acquire.
To some extent, they are a matter of "feel" (for native speakers) and acquired or conscious experience on the part of language learners.
There are, however, some rules of thumb you can use when choosing among the DATIV prepositions.

             "from"       aus
                              von

                "at"        bei
                             Idiom:  zu Hause

                "to"        zu
                             nach
 
 

The five Dative  prepositions we are dealing with here can be distinguished by

                1.)the question that they answer AND
                2.) the kind of verb used:

                    a.) woher?  (from where)    --verb of destination
                    b.) wo?  (where)      --verb of location
                    c.) wohin (to where)     --verb of destination