In 700 B.C., the greeks conducted some of the earliest recorded tests with electrostatics. The did this by rubbing wool to amber. We can still do it today. We can observe that some materials attract while others repulse. Two objects of the same materials will push each other away; therefore, like charges repulse and opposites attract.
In the simulation below, we can see that charge is not created. Instead, objects can gain a negative charge be collecting electrons. Drag his foot on the carpet to build up the charge.