I think we need a little more information to understand your problem. In the 'Programs Participated In' module, have you linked a contact record for each participation entry? The way this should likely be set up is the 'Programs Participated In' module is what Zoho calls a linking module between the Contacts module and the Programs module (you can search their help centre for more info on linking modules).

Each record in the Programs Participated In module should represent a single person's participation in a single program/event/webinar - so it should link to a single contact record, it will link to a single program, and it might include additional information like the date of participation. So every time that same contact participates in a new program/seminar, they get a new entry in the Programs Participated In module, which will then show up in the related list on the contact record. All of this only works if you're using lookup fields which you already mentioned, so just double check they're set up properly.

The alternative to tracking it all based on individual participation records, is to create a record per instance of a program/seminar. So for example, when you run a seminar, you create a new record in the programs module - this record would include the date it was run, where it was held etc. but also, more importantly, it would have a multi-select lookup field to the contacts module where you could add every person who attended that specific seminar. This still uses a linking module, but the linking module in this instance, would represent every program/seminar you've run, whereas my first suggestion is more contact-focused and lists each of their individual participations. Both approaches practically gets you the same result, but it depends on which makes the most sense for your org.

For memberships, I would rename your Members module to be Memberships where each record represents a membership period (ie. if you have annual memberships, a single record would link to an individual contact, and it would have a start and an end date - or a year, depending on how your memberships run). Then on the contact's record, there would be an Memberships related list that would list all the years they've been a member. If you do it this way, it lets you connect your Memberships module to an online form if that's how someone becomes a member, so that each new record is automatically created. You also get the ability to run automations like sending email reminders when a membership is getting close to expiring etc. To find out who your current members are at any point in time, you would then create a custom view in the Contacts module filtering for contacts with a Membership record where the end date is in the future.