How you access History / Bookmarks depends on what layout you have for Safari.
I Prefer the "Top" layout. Which places the Address bar at the top and a tool bar at the bottom. With that, you can access History, by tapping on the Bookmarks icon and then on the tab with the clock icon. It will remember what tab you last accessed, so the next time, you only need to tap on the Book icon and it will already be in the history listing.
If using Compact mode, then you need an extra tap. Tap on the (...), then on Bookmarks, and then on the clock icon.
To change the layout, you can go to Settings ➜ Apps ➜ Safari ➜ Tabs.