Here's a breakdown:
No comma:
* Therefore, I will stay home.
* She is tired. Therefore, she will go to bed early.
Comma:
* Therefore, because it is raining, we will stay inside.
* Therefore, if you are feeling unwell, you should see a doctor.
In short, use a comma after "therefore" when it introduces a dependent clause. A dependent clause is a group of words that cannot stand alone as a complete sentence.