How to create a static library with g++?

Can someone please tell me how to create a static library from a .cpp and a .hpp file? Do I need to create the .o and the .a? I would also like to know how can I compile a static library in and use it in other .cpp code. I have header.cpp, header.hpp . I would like to create header.a. Test the header.a in test.cpp. I am using g++ for compiling.