It's very similar to creating a standard menu item...
- Go to Appearance > Menus
- Expand the Custom Links section and enter a "/" for the URL - this will take you to the home page of your site. The enter "Home" for the Link Text.
- Click Add To Menu - this is what it will look like in the menu.
- Save the menu.
Don't forget to clear your cache with the yellow broom at the top right of your dashboard. If you're in the Customizer, you'll need to Save & Exit to see the broom.