Use here for the place of the writer or speaker, and there for other places.
She wants to escape from home, and the least we can do is to let her stay here for a while.
Don’t stand over there on your own, come over here and join us.
I’m going over there, to get a better view of the mountain.
You have 2 choices: stay here or go there.
Here and there are not usually used as nouns.
This place is awful. It’s awful here (NOT: Here is awful).
That place is awful. It’s awful there (NOT: There is awful).