You need to find wood first of all and drop it on the ground. You can also find wooden fire pits all over the place and if you find one of these it is easy to light it. The key thing you need is Flint. Drop some Flint next to the wood, either wood you have in your inventory or wood that you already found. Strike the Flint with a metal weapon and this will generate Sparks to light up the fire.
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