How to use lerp to rotate an object to its given rotation

I want to rotate an object to the rotation I wish. It may be 90 degree along X axis or anything else but using lerp. So how can I do this.

You can use the Vector3 or Quaternion Lerp functions to rotate your Transform. Just use the corresponding functions (setEulerAngles or setRotation) on the transform.

Then it is just a matter of modulating the last value of the Lerp functions from 0 to 1. This can be done using a local variable and adding the Time.deltaTime in the Update function, or by using a Coroutine.

Hope this sets you in the right direction.