I'm afraid there is no simple rule. This is one of the trickiest aspects of French: some verbs require à (s'amuser à), some de (refuser de), some another preposition (s'habiller en, appuyer sur) and some no preposition at all (écouter, regarder, chercher). This is just something you have to memorize for each verb (similar to memorizing gender with each noun).
We don't yet have any specific exercises on Kwiziq, but you can see lists of verb sorted by preposition on our Partner site: French verbs with prepositions
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