The OP's original questions require more detail to accurately answer. Yes, rudder is used during a turn to counteract the tendancy of roll, torque and P-factor to create a yawing moment (usually away from the turn direction). The use of rudder counteracts the undesired yaw and creates what is called a coordinated turn in which the airplane has no sideslip in the turn. This is the most efficient type of turn but in AH the gain is very small. Actually, 99% of the time AH airplanes will turn close to a coordinated turn just fine without it.
That said, do not forget all the other things rudders do for you. First off they create (or counter) yaw as mentioned above; however, due to dihedral effect they will create a rolling moment. Left rudder = left roll and right rudder = right roll. So, the OP's question of:
What is the proper procedure to turn using rudder pedals in conjunction with using the ailerons?
is a little more complicated than just using rudder for coordinated flight that others have adequately addressed. Many planes suffer from low roll rates, particularly at slow speeds. What's this got to do with rudder? Well, remember what I said about dihedral effect? Stuff in a bootful of rudder in the desired direction of turn along with the normal aileron input and dihedral effect increases the airplane's roll rate making it much easier and quicker to change directions. This is much more important in AH than coordinated turns. So, the rule here is to always use rudder into the desired direction of turn along with aileron to position your lift vector in the direction of turn more quickly.
This leads to the OP's second question:
Is up elevator also employed in the process as I turn?
Absolutely! No turn can be executed without applying G. If you roll the airplane either with aileron, rudder or both but don't pull back on the stick you've just got a roll, not a turn. Standard turns are always initiated by setting the direction of the turn with roll then pulling G with aft stick.
There are other things that smart rudder useage will give you such as vertical reversals, snap rolls, and better speed control but figure out the basics first and then move on to the more advanced stuff. Also, do a search here on this forum as there are many threads about the use of rudder for advanced techniques.