You'll need some sort of VM driver for Minikube, and by default, Minikube uses VirtualBox. You can find installation instructions at: https://www.virtualbox.org/wiki/Downloads. VirtualBox stands on its own as a free hypervisor, which is used to power other useful developer tools, like Vagrant.
Now, we'll install kubectl (think of it as "Kube Control"), the Kubernetes command-line interface. Follow the instructions at: https://kubernetes.io/docs/tasks/tools/install-kubectl/.
Finally, we install Minikube: https://kubernetes.io/docs/tasks/tools/install-minikube/.
Start the cluster up with minikube start (this can take a while, so be patient). The output is sufficiently descriptive: you will be starting a VM, ...