There are numerous ways to 'enter' the card.
For starters, look at the card in all its details, including colour, orientation of the heads of the people or animals (&c), tools, plants, and any other items.
Next, with the card in front of one's self, and seated comfortably, close your eyes and begin to 'remember' the scene... as though it was a photograph from somewhere you had been.
Here, the scene should start to acquire a living aspect, and reveal elements which were not able to be captured by the artist (the aroma of the place, the movement of air, and parts of the scene outside the frame of the drawing)
At some stage, re-do this same exercise as though you are one of the depicted characters.
If you wish to see one aspect of the result of this exercise, see the depiction of my Chariot for the Aeclectic Tarot project.