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A very beautiful video explaining this difference:


You must always use the Present perfect when the time of an action is not important or not specified.

I have lived in Lyon.    
They have eaten Thai food.    
Have you seen 'Othello'?.    
We have been to Ireland.

You must always use the Simple past when details about the time or place that an action occurred are given or requested.

I lived in Lyon in 1989.
They ate Thai food last night.
Where did you see 'Othello'?
When did you go to Ireland?