Or, another way it can be done is while in Sarafi, hit the "Bookmark" button at the bottom of the screen, then choose "History" from the list, then hit "Clear" in the bottom right hand corner.
If it's Google, you can delete individual sites in history at Google Support. Some may find that useful. I just wipe it all every now and then, except for what I have bookmarked.
Sent from from my ancient but trustworthy iPhone 5