Yes practice is the key. http://www.esl-lounge.com/level5-phrasal-verbs.php
I have two more suggestions for while practicing.
1. You can also use context, hints given by the information around the phrasal verb. These can help to show if the meaning might be literal (represents itself/ exact/ factual), figurative (symbolic) or idiomatic (expression).
2. You could make your own phrasal verb dictionary.