Engage with others, and they will engage with you in return. Like most things in life, you get out what you put in.
There are two ways to get engagement over time - create high quality content consistently, or interact with others often. Ideally, a mix of both is best.
I wouldn’t worry too much about “engagement” on social media though. We’re all just one person, and there’s no way to compete with the ideas and content of millions, which is what social media is. Share things you think are worth sharing and discuss things you want to discuss with others, and you will find success.