"Ich stellte die Tassen auf den Tisch."
Translation:I put the cups on the table.
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Good question :)
auf is one of the prepositions that swings both ways - it can take either the accusative or the dative, depending on circumstances. We use the accusative if the auf involves action or motion, and dative if the auf is a static relationship. In this case there is action - I am putting the cups on the table - so it is accusative. If we were just describing the cups being on the table, it would be dative.