These two words are often muddled, but luckily they're among the easiest not to get wrong!
Hear is what we do with our ears: listen!
e.g. "David could hear properly after getting a hearing aid."
Here is where you are at any moment in time (and is a place, like there).
e.g. "It had taken Andrew 5 hours to get here, but the journey had been worth it."
One subtle muddling of them is in shouting agreement to something someone has said.
e.g. "Hear, hear!" shouted the conservatives after their leader demolished the Prime Minister's argument.
"Hear, hear!" is literally used to command people to hear what is being said.