You can check out the pronunciation of irregular verbs here (thanks so much for the video, María):
There must be some other similar videos that may be useful. I encourage you to surf the Net for them if you feel like it.
Another way of learning the pronunciation of the verbs (of any word, actually) is by checking the phonetics and trying to figure out what the symbols mean. I’m sure it’s not that hard. You can always rely on the following: