I'll give in steps since that seems the most illustrative:
1) Open Xcode
2) Go to Window -> Devices
3) On the left side you'll see all the simulators
4) Right (or 'Control') click on each and from the contextual menu, pick 'delete'
5) Delete all Simulators
6) On the bottom left, click the '+' sign
7) Use the '+' button to add any Simulators you need
There are command line utilities that can do this, but since you haven't done this before let's stick with the basics.