Are you looking for advice for tools or for how to configure a pipeline?

The other answer mentions some pipeline steps (lint, test, compile etc), so I'll focus on tools.

The heavyweight champion for self hosted CI is still Jenkins I think. Pipeline config files are written with a scripting language (Groovy) instead of yaml, which gives you a lot of options for customization: https://jenkins.io/

But for a first CI setup for a small team it might be too much. I think Drone is lighter and simpler, while still being popular enough for having a community that creates many plugins: https://drone.io/