The default one is fine, but there is an optional thing that can help.

On Character Configuration got to Hotbar Settings then go to Cross. Expanded Hold Controls is pretty nice, you can easily switch from one hot bar to half of another. Good for putting things you only need to use occasionally somewhere easy to get to but not taking up space on your normal bar.

Unless you meant just using one in general. In that case to get it working just plug it in, start the game up select your character, go to Character Configuration, and switch that character to gamepad mode.