Plan
Define which categories a product should be part of. You can define this per variant.
Add a category for a product
Click the Add link and select a category in the opened dialog to add a category for the product to be placed in.
Main category
A product can be placed in many categories but ther is always one Main category, which is the category used as a home for the product. The main category will be the home category if a visitor clicks the product in a search result, and the main category is also the home category instructed to search engines.