In Spanish, when we talk about places that we have been to, we can use two verbs: "estar" (to be) and "ir" (to go).
He estado en Europa = He ido a Europa.
It is actually very common to hear Spanish speakers say in English "I've never gone to Europe" when they mean "I've never been to Europe".
Now, the use of different prepositions:
When talking about places, we use "en" to refer to a place where an action happened without involving movement. We use "a" when the verb implies movement or direction. That is why we say "estar EN un lugar" but "ir A un lugar" (same as in English "be IN a place" but "go TO a place".
If it is not clear, please, ask me!