Building credit history later in life

I am trying to build credit so in the future I could get a loan if needed probably a car loan. I’m 39 years old.I have never had a mortgage,credit card, or any type of loan in my name just household utilities. My credit score is 568, with 1 derogatory mark of $202 from 5+ years ago. I was going to fight the 202.00 but it may just be easier & quicker to just repay it. I’m not sure what would be the best way to increase my credit score over time. Should I get one of those credit building credit cards, or try to get the minimum loan amount at my bank ( probably with a co-signer ) put the loan in a separate savings acct & just have the bank automatically take the payments out? Any advice will be greatly appreciated.