"There is a book on the table"
=> 책상 위에 책이 있다 (Chaegsang wi e chaeg i itta).
"The book is on the table"
=> 책은 책상 위에 있다 -> (Chaegeun chaegsang wi e itta).
In Korean, the subject marker particles (이, i, in the first and 은, eun, in the second sentence) determine the existential or locative sense. The ordering of the different parts doesn't matter as much.