How do I sync iphone 6s with Microsoft Outlook 2010?

I have a PC with Microsoft Outlook, which I use primarily (not my phone). I have just purchased my first iPhone and want to sync my calendar/contacts from my computer's Outlook to my iphone. I do not have "exchange" or corporate servers. I have heard there are options for iCloud and iTunes to do this. I am looking for the pros/cons of each so I can decide which, then how, to use. Thanks in advance! 😊