I will explain it easily for you to understand.
For a beginner, remember these are enough.
usually, these those characters can be replaced by each other. You're right.
我把弟弟领回家，我将弟弟领回家。both sentences have the same meaning: I brought my brother back home.
But 将 sounds more formal than 把， in formal files, reports, you can see it often. But in daily conversation, we will use 把 more. If you use 将, it's not natural.
将 has another meaning is "will", I think you have known it already.
我将离开中国，I will leave China.
政府将出台一系列政策，The government will apply a series of acts.