My credit score is 571 and I need to get it up to 620 or higher.?

I only have a car loan, and two credit cards. One has a 500 credit limit and my balance is 210.00 and the other one has a 540.00 credit limit and has a 538.00 balance.What can I do to get it up. I have been paying my bills on time since 2007. I need help.
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