Most of these prepositions can express either position or movement.
Position: The coin is under the table.
Movement: The coin rolled under the table.
Into and onto express movement. In and on usually express position, but they can express movement, especially in informal English:
My father came in/into the room.
The book fell on/onto the floor.
At expresses position, and to expresses movement:
Harry was at the doctor's.
Harry went to the doctor's.