tense - Is there a simple and clear way to explain the difference between past simple and present perfect?

I read (or do I say "have read"?) many rules for when to use the present perfect. I found them complex and hard to understand (or do I say "have found"?). I am finding it hard to apply these rules in real sentences.

Is there a simple and clear way to explain the difference between past simple and present perfect? If there is a simple explanation, please tell it! If there is no simple explanation, please tell why it is so complicated. Maybe if I knew why there is no simple explanation, that would help me understand what work I need to do in order to learn the difference.