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Go to the Settings

Then General

Scroll down until you find Accessibility

Scroll down until you find AssistiveTouch

Activate AssistiveTouch

You can create new gestures if you want, but I left everything as it was by default

A new virtual button appears on the screen which you can push and similar menu appears, where you can notice the Home button: it works exactly like the physical button on your iPhone

You can place your virtual button wherever you prefer on your home screen