Controlling two characters at the same time

I want to make a game that can control two characters at the same time…

but I don’t know how.

I’ve looked it up on Google. Not very promising.

Now, into the in-depth part:
I want to control two characters at the same time while the camera inbetween both positions. (do I do this with lerp?)
I want to control Char1, WASD, and Char2, UHJK. Z to jump for char1 and M to jump for Char2. How would I go about this?