To wield a weapon, you must equip it, which may be done as an interaction. You can hold any weapon you want in either hand, but you must define a main and offhand if you are dual wielding.
Your offhand can perform a special, lower AP cost attack called an Offhand Attack. It does not use the Weapon Attribute for bonus damage, and can only be performed by a Light weapon in your offhand after you have already attacked. There are some class features that change the rules of this ability.
If you are dual wielding, you can use your main and offhand weapons simultaneously using an attack action called a Dual Attack. It costs 4 Action Points, but uses both weapons, including a main hand attack and an offhand attack, which otherwise follows the rules of Offhand Attacks.
Two handed, or 2H weapons occupy both hands, and as such, attacks made with these weapons use both hands, but otherwise work the same as any other main hand attack.
Versatile weapons may be held in either one or both hands. Holding them in both hands often results in a damage dice quality increase.