Use the command visudo to access the /etc/sudoers file.
Uncomment this line:
## Allows people in group wheel to run all commands # %wheel ALL=(ALL) ALL
So it looks like:
## Allows people in group wheel to run all commands %wheel ALL=(ALL) ALL
Save the file then
Run this command for your user
usermod -aG wheel usernameforsudoaccesshere
But test it
su usernamewithsudoaccess sudo yum history
Any root only command is a good enough test for this. The command should run succesfully after re-providing your users password for sudo access.