Along with the other suggestions, I have found that many of my students improve their use of phrasal verbs simply by immersing themselves in language.
Almost every newspaper article or website that you read will contain phrasal verbs - and you can often work out the meaning from the context so you begin to learn what sounds natural.
Similarly, practising speaking with a native, or listening to English language podcasts or TV shows helps you familiarise yourself with the correct way to use these phrases.
Overall it always comes down to memorising them - but different techniques help to make the information stick in your head.