Visualization seems to come more naturally for some than others. Some folks are able to apply an active imagination to their prayer, but those who are not so inclined should not be troubled over it.
I sometimes lack the necessary concentration to “imagine the scene” of the mystery and pray the words (Our Father, Hail Mary) simultaneously, so I address the meditation briefly before each decade.
For some reason, “placing myself in the scene of the mystery”, like imagining myself at the foot of the cross, does not always seem fruitful for me, and so I turn it around, bringing the scene to my life and situation. Example: For the Visitation, instead of visualizing myself traveling with Mary to help her kinswoman Elizabeth, I might pray, " Holy Mother Mary, pray for me that I will be a blessing and help for my family and friends, just as you were for Our Lord and St. Joseph and the Apostles, and as you continue to be for all of us today." Something like that.