Read the Foundation trilogy in order (Foundation, Foundation and Empire, Second Foundation).
Read at least a decent sampling of the robot short stories (I, Robot and/or The Rest of the Robots, or The Complete Robot which contains both), just to get the feel for the Three Laws and so on. Then read the the Lije Bailey novels (The Caves of Steel, The Naked Sun, and The Robots of Dawn, in that order). Note that, even within the robot stories, there are probably already multiple inconsistent timelines and future histories-- Don’t worry about that; any that aren’t in the “main future history” can be taken as just explorations of the implications of the Laws.
You can read the Foundation stories or the Robot stories first, or alternate between them, or whatever, as long as you’re taking each in order. After you’ve read both, read Foundation’s Edge and Foundation and Earth, in that order, and Robots and Empire somewhere in there (though the other two are really more one novel split into two, so you might want to read them together).
After all of that, you can read Prelude to Foundation and Forward the Foundation. Or not. They read like Asimov trying to write a Heinlein novel, and not doing a very good job of it.
You can also read Pebble in the Sky, The Currents of Space, and The Stars Like Dust in any order, at any time, regardless of any of the series: They’re theoretically set during the Galactic Empire, but are completely stand-alone in plot. I liked the first two, but found The Stars Like Dust to be a bit trite, but that’s a matter of taste.
Also if you like, read The Gods Themselves and The End of Eternity at any point, which Asimov was also sort of vaguely trying to tie in, but didn’t really. I thought that Gods was decent, if you can get past the weirdness, but Eternity just wasn’t very good at all. Conveniently, they’re often published together (along with a few other stories) in a volume called Earth is Room Enough.