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You want it to be in 2H unless you need the truck to be in four wheel drive.
2H just means that power is being sent to the rear wheels only, and not the front.
You never want to drive on a dry surface like pavement with the four wheel drive engaged. You will damage expensive parts of your truck if you do.
If you have manual hubs, you have to lock both sides in before you can use 4x4. If you have auto hubs, just putting it 4x4 will engage the hubs. Back the truck up in 2H to dis-engage then.
Your owner's manual should also have this information in it, if you have one. If not, they can be ordered from a company called Helms.
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