Kids need to learn about their physical relativity to other people and objects. A child should be taught to recognize the distance of objects and people, even when they're not relative to his own position. An easy way to practice this concept with a child is while you're in the passenger seat of the car, ask the child to follow one car that interests him. When the car is far from your own, explain that to your child; when the car is near, do the same. Ask your child to identify when the car is near or far.
Gather a few small plastic animal toys to demonstrate the difference between "in" and "on." Place one of the toys on a dresser and scatter the rest of the toys on the floor. Ask your child to identify which animal is "on" the dresser. As your child progresses and is able to correctly identify an animal's position relative to the dresser, ask him to put one of the animals in the dresser and another animal on the dresser. Encourage your child to use positional phrases like in and on in everyday speech.
Over and under are positional concepts that you, most likely, have begun to teach your child through daily interaction. When the chance presents itself, continue to develop your child's spatial awareness by asking him to retrieve objects when they fall under something. Emphasize the lesson by asking your child to repeat where an object is. For example, ask your child to place his napkin over his lap at the dinner table. During dinner, ask him to tell you where his napkin is.
Develop your kindergardener's concept of "open" and "closed" by involving him in a hands-on activity as well as by bringing his attention to things around the house that can demonstrate the concept. Ask your child to tell you when a door is closed and when it is open as you slowly open and close it. Try regularly demonstrating the concept on a smaller scale by asking the child to open a backpack for you or close the refrigerator after you've opened it.