I know how to find all the elements up till $S_3$ but for $S_4$ I am not sure how to do that systematically.
How to find all the elements of the group $S_4$
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Georege Law's answer tells us how to list them by various types. There is an alternative way (based on your question).
As you have listed already all permutations of $1,2,3$, we can use that to get the permutations of $1,2,3,4$.
Write out a single permutation of 1,2,3 in a piece of paper well spaced out.
Now insert 4 at front, and then at all gaps, and then finally at the end. There are 4 possible insertion slots. Each leads to a new permutation of 4 symbols.
Example from 3 1 2
4 3 1 2; 3 4 1 2; 3 1 4 2; 3 1 2 4
Now do this for every element of $S_3$.
This method applies to listing permutations of $S_{n+1}$ from $S_n$.
This has the advantage that it can be converted into a computer program (may not be the most efficient; that is a different story).
Hint: $S_4$ consists of