You delete data in the current table with a regular DELETE statement. The end period column for deleted rows will be populated with the begin time of underlying transaction.
You cannot directly delete rows from history table while SYSTEM_VERSIONING = ON.
Set SYSTEM_VERSIONING = OFF and delete rows from current and history table but keep in mind that way system will not preserve history of changes. TRUNCATE, SWITCH PARTITION OUT of current table and SWITCH PARTITION IN history table are not supported while SYSTEM_VERSIONING = ON.
Data modification is reasonably straightforward with temporal tables. Read on for examples.