Press and hold button E to pick up your desired object, then wait for the reticle to become a larger circle and hold the right mouse button to aim and release to throw. The basic control involves picking the object and throwing it.
Keep in mind that you can have a maximum of four items in your inventory at once, every time you pick up old items it will disappear and goes to the previous inventory slots. For beginners, there is key basic control that you should remember.