Run the jenkins.sh script (source jenkins.sh), and that should do everything for you.
Take a look at this: https://github.com/KnowledgeHut-AWS/jenkins-lab-2-packer/tree/k8s for a basic example on how to create a kubernetes pipeline. Notice that this is the k8s branch, not master.
Note: the lab exercise is to get that packer repo actually working -- it's close, but not fully there yet.
Note2: Also, try to understand the jenkins.sh script, and the associated yaml files -- they're quite interesting.
Links: Chart repo: https://github.com/helm/charts
Jenkins Chart: https://github.com/helm/charts/blob/master/stable/jenkins
Kubernetes Pipeline: https://www.jenkins.io/doc/pipeline/steps/kubernetes/