Add Visual Wheels to Unity Car Physics System

How do I add visual wheels to the Unity Car Physics system. I have set up my wheel colliders, added the simple car controller script to the car root object of my vehicle. My car can drive around using the keyboard when I play the game, but how do I add visual wheels or my car 4 tyres to the car physics system so my wheels can spin as the car moves.

This video really helped me when I was making a car, perhaps it will help you.