The first step is to give your script permission. For example, the name of the script you want to execute is test.py, then enter its directory first, and then execute
sudo chmod 777 test.py
The second step is to open /etc/rc.local
sudo nano /etc/rc.local
The third step is to add the execution script command in the /etc/rc.local file (the line above the statement exit 0)
python3 /home/pi/test.py