Could someone help me explaining when I use a verb followed by "for" and when I use it followed by "to". It seems that both have the same meaning. I never know which one I have to use.
to can be used for destinations. Swim to the shore, run to the store.

for can be used for measurements or for reasons. Swim for one mile, run for charity.

If you have verbs you want to use, post them and I can give more uses.
"For" can also be used with a "destination" meaning: I have a present for you.