If you're trying to do it all in software, you can get pretty far with a function to draw a solid colored triangle, a function to rotate 3d points using sin and cos, and some loops. Then the other pieces like lighting and texture mapping can be added pretty incrementally (depending on how obsessed you are with optimization).

There are lots of interesting pages about this. Here's a contemporary one that comes to mind: https://www.modeemi.fi/drdoom/3dica/3dica.htm

An easy way to get your pixel color array on screen is SDL2: https://www.libsdl.org/