Usually your webroot on a default install of apache is located at /usr/local/apache/htdocs. That is where you would put your webpages.
Most domain registrars allow you to store and manipulate your domain record from their control panel. So if you have a static IP, you should be able to create an A record at your registrar that points to your IP address, and then your domain should resolve to your server. You really don't need nameservers for a simple one domain setup.
Other than that, which is general information, I would need specifics in order to help you out further. But that is a simple way to do what you are asking. I have used this method a bunch of times, and it works pretty good.