To create a camera, select layer>New..>Camera. Select 35 mm (for instance). Now you’ll be looking at any 3D layer through the camera, while every 2D layer in the same comp will not be affected by it.
If you look at your 3D layer position value, there is a z value in addition to the x and y. So, when you move something in space along the z axis, it will move closer and further away from the camera. (This is the case with the initial view. If you move the camera around, and especially if you rotate it, the axis that will make the object go further away or closer to the camera will change.)
So, let’s say you want the object to fly in from the bottom left corner toward the center. If you drag the object on the x and y axis to the corner and then drag the z value to a minus range, the object will come closer to the camera and out of the frame. You can put your beginning position keyframe there. Then move forward in time and change the z axis position value only to a large positive number, say 10000 (keyframe). Now when you preview this, the object will fly in like it would in “real life” rapidly past the 3D camera and slowing down into distance in real perspective.
You don’t have to have a moving camera to utilize the 3D properties in AE. You just need some 3D layers and a camera. AND you can have 2D layers in the same comp, so if you have a background (footage or image) that you don’t want to be affected by the camera, leave the layer 2D.
Obviously there is much more to this, but that’s the basic concept.