Part 1
Let's start with the verb "to go", 行く.
Here is a perfectly valid sentence:
行く。
What does it mean?
Well, this verb can take some arguments, such as
- the actor: who is going; (required)
- the destination: where they are going; (optional)
You may have noticed that no actor was listed in the sentence, despite me claiming it is "required".
It turns out that the actor is still "in the sentence", it's just omitted from the sentence's surface form. But the key point is that it's impossible to interpret the sentence without an actor in mind -- usually it defaults to "I" if there's nothing in context to suggest who the actor is.
So, a reasonable gloss for this sentence is
行く。
" (I) will go."
Part 2
To explicitly state the actor, you mark him/her with が and then put it at the start of the sentence:
ジョンが行く。
"John will go."
However, in Japanese, if John (in this example) was already the topic of discussion, you need to replace が with は:
ジョンは行く。
"John will go."
(An example dialogue where John is already the topic of discussion: 「ジョンは行く?」"Will John go?" 「ジョンは行く。」 "John will go.")
(An example dialogue where John is not already the topic of discussion: 「誰が行く?」"Who will go?" 「ジョンが行く。」 "John will go.")
The は↔が stuff is complicated and hard to cover in full detail so I'll leave it there.
Part 3
To specify the destination, you mark it with に and add it to the left of the verb.
日本に{LLL}行く。
"(I) will go [to Japan]{LLLLLLLL}."
We can of course combine this with the actor.
ジョンは日本に{LLL}行く。
"John will go [to Japan]{LLLLLLLL}."
Part 4
In addition to arguments to the verb, there are other things you can add which affect the verb -- these are called "adjuncts".
いつか is an example of an adjunct, which means "someday".
The natural place for this particular adjunct is between the actor and the destination:
ジョンはいつか日本に{LLL}行く。
"John will go [to Japan]{LLLLLLLL} someday."
That spot is also the location for many other adjuncts...
ジョンはお父さんと日本に{LLL}行く。
"John will go [to Japan]{LLLLLLLL} with his father."
ジョンは絶対に日本に{LLL}行く。
"John will definitely go [to Japan]{LLLLLLLL}."
Part 5
To make the sentence polite, you turn the verb into its continuative form and then add ます.
ジョンはいつか日本に{LLL}行きます。
"John will go [to Japan]{LLLLLLLL} someday."
Part 6
A note on 「私は」: since you can omit the subject of verbs in Japanese and have it inferred, often that is done. Having 「私は」 doesn't sound terrible in this particular sentence when it's standing by itself, but if you're already talking about yourself in a previous sentence it'd probably be best to drop it.
(私は)いつか日本に行きます。
Part 7
There are more ways to arrange this sentence, such as
日本には(私が)いつか行きます。
Basically, the important arrangements to understand are the ones which change what element is being marked with は (in this arrangement, the destination instead of the actor), because marking the right thing is important for having the sentence flow properly in the discourse.
There are other sorts of things you can do, like move elements in the sentence around without changing whether they are marked by は or not (for example, you can say 「日本にいつか行きます」 but it's meaning is honestly not so different from the standard version). This is called "scrambling".
Unfortunately covering this all is a book.
Summary
Since that was a little unordered, let me give you a model to think about this more structurally.
The underlying sentence is
私がいつか日本に行きます。
Then you mark the right element of the sentence with は based on what is the topic of the discourse. Then you possibly drop that topic element if it feels inferrable enough. Then you possibly reorder elements around depending on scoping concerns or for pragmatic reasons (like adding on something for clarification when you notice what you said was ambiguous).
Bonus 1
Not what you were asking about, but 「いつか日本に行きます。」 sounds a little to definite to me compared to the English sentence (which is softened by "someday" more than the Japanese sentence is softened by 「いつか」).
I think I'd opt for
いつか日本に行きたいです。
or
いつか日本に行きたいと思っています。
"I'd like to go to Japan someday."
Bonus 2
Even more not what you were asking about, but this sentence would flow much better if it wasn't such a standalone statement... like
日本語が好きで、いつか日本に行きたいと思っています。
"I really like Japanese and would love to visit Japan someday."
or something like that. Series of short statements sounds even less natural in Japanese than in English, I think.