Complete documentation for Arquillian Cube is available at http://arquillian.org/arquillian-cube/.
The Preliminaries section will guide you through the required steps to set up your local configuration, at least for Docker container usage.
In order to get started, see the Basic example and the Standalone example sections.
Kubernetes documentation is available too, and you can find out more in the Arquillian Kubernetes and OpenShift Recipes section.
Finally, don’t forget to check the integration tests in each submodule, as they might be a good starting point for your own use cases.