lens – What are the summary rules for when to use image stabilization and when not to?

When I got my DSLR, I took a lot of pics and all of them came excellent, even though I had VR at the “Off” position.

Since those came out so well, I wonder when should I turn VR on, and when I should just leave it off.

I found this article which answer this question in detail, but that’s too much for me to understand easily. Can someone explain the strict rules in short?

Should I use VR with tripod? When should I use it when I’m not using a tripod, and when should I leave it off?