The motor driven horizontal rotating wing mounted on top provides lift. By tilting the main rotating wing slightly forward the helicopter is pulled in a forward direction. A smaller vertically rotating wing mounted on the tail counteracts the tendency of the helicopter to spin in opposition to the main rotor. By precisely varying the rotation of the tail rotor the helicopter can be aimed left and right as it moves forward.
The overall angle of the main rotor is fixed in relation to the helicopter. Tilting in various directions is achieved by providing more lift in a given direction. The angle of attack of each blade in the main rotor can be varied as it rotates. Adjusting a control causes the blades to have a greater angle of attack and therefore greater lift in a specific direction. This causes the helicopter to tilt in the direction of desired motion. Increasing and decreasing the lift throughout rotation allows the pilot to control up and down motion of the helicopter.
Of course, it all depends what sort of engine it has, also how many rotors, if it has 2 it does not have a tail rotor, The colective control is used to increase/decrease the AOA of the rotor blades, the foot pedals are used to control the tail rotor, the joystick controls varies the pitch of each individual roter blade to change the direction of the Helo.
In flight both feet are used, and both hands, all the time.
And remember that it is the rotor assembly that actually flies, the fuselage of the helicopter just hangs below doing nothing... A helicopter won't glide (unless you want to class an autorotation as gliding... :-o )