[clause] + ,然后 + [clause]
[subject] + 先 + [verb phrase] + ,然后 + [verb phrase]
然后 starts the next step in a sequence: one thing happens, then another. It goes at the start of its clause and works for plans, instructions and past events alike.
先…然后, "first … then", has its own point.
后来 is "later on, afterwards" in a story about the past, usually after a gap in time. 然后 is the next step, past or future. A plan or an instruction only takes 然后.
以后 goes after an event or a stretch of time: 下课以后, "after class"; 三年以后, "three years later". 然后 stands on its own at the start of a clause and takes nothing in front of it.
In speech, 然后 also strings a story together much like English "and then … and then …", sometimes as a filler while the speaker thinks.