We consider the classical problem of the construction of invariant tori exploiting suitable Hamiltonian normal forms. This kind of approach can be translated by means of the Lie series method into explicit computational algorithms, which are particularly suitable for applications in the field of Celestial Mechanics. First, the algorithm constructing the Kolmogorov normal form is described in detail. Then, the extension to lower-dimensional elliptic tori is provided. We adopt the same formalism and notations in both cases, with the aim of making the latter easier to understand. Finally, they are both used in a combined way in order to approximate carefully the secular dynamics of the extrasolar system hosting two planets orbiting around the HD 4732 star.