How to know verbs accompanied with à, pour or de

I hate to tell you this, but there is no rule on that.

I suggest you add the prepositions when studying vocabulary, that's what I do! 

For example, instead of "hésiter - to hesitate" I write "hésiter à faire qc - to hesitate to do smth" 

Other than that, only practice will help.

Don't worry, it's easier than it might seem! Bon courage !