It's much more complex than that. We use "to" for places, for example. Have a look at the verb that comes BEFORE to/for. For example, verbs which describe some kind of transit (come, go, pass, give, etc) usually take "to". To be honest, you'll make far more progress by looking at real examples instead of trying to find some clever rule.

Hello Belen, As Peachey says there are no rules, and if you can find rules there will usually be exceptions! I would say that it is best to learn these words as part of expressions or verbs. For example - 'listen' is always followed by 'to' in conversation. I listen to music/a CD/the radio/ the teacher. Best wishes Bob