Smartpairs.vim will add proper pairings as you type:

You type        You get        Notes
(               (_)            "_" represents the cursor
<BS>            _
[               [_]
]               []_
<BS>            [_
<BS>            _
{               {_}
<CR>            {              Cursor will be indented using current syntax
                  _
                }

It has multiple options you can use to configure it. See the documentation for all the details.

This Plugin requires Vim 9.0+

With vim-plug:

Plug 'imranZERO/smartpairs.vim'

Vim 8+ package manager

git clone https://github.com/imranZERO/smartpairs.vim.git \
            ~/.vim/pack/{whatever name you want}/start/smartpairs.vim

See :help package for more info.

There are other plugins which do pairings as well, but in my opinion they do too much. Because they do so much, there are lots of edge cases where you don't want the pairing functionality to trigger, but it does anyways, and it ends up getting in the way.

This plugin aims to be minimal, and try to be as unobtrusive and unsurprising as possible.