How does wheels work on a cart?

[u/kikibres]

I hope this is correct place to post in? I sometimes make up stories in my mind. One of the stories was about spaceship crash landing in a nice forest. The survivor was planning to put together a small simple cart to push stuff around. How to put wheels on the cart? I know that you can connect two wheels on an axle. But how to add axle to bottom of cart without any friction?

A simple tutorial with pictures would be nice.