Summarize this article:

You can move your apps around the home screen (and onto other home screens, if you wish) by dragging them around. When you lift your finger, the app's icon will appear in its new place. To move the app to another screen, drag it all the way to the right or left until the next screen appears, then lift your finger.

Summary:
Tap and hold an app on the home screen. Drag the app to another location on the home screen.