Digital signatures can be attached to PDF documents as proof that you are the author and that the document was not altered by someone else.
A digitally signed PDF will have a notation in it that it was digitally signed, usually a scan of a signature or just text with the author's name, with an Adobe logo watermark in the background.
Adobe offers self-signed certificates for no cost. While self-signed certificates are not always considered "valid", they are usually good enough for most purposes.
Instructions can be found on the Adobe Manage Digital IDs page. Make very, very sure you save the password somewhere when you are asked to create it, as you will need it later.
When going through the Adobe procedure, and you get to the step where it asks where you want to store your self-signed digital ID, note that the "New PKCS#12 Digital ID File" option is more portable, because you can put the file on multiple systems. If you don't want to have to enter the password every time you sign a document, and you are using a Microsoft Windows system, you can manually import the certificate into the "Windows Certificate Store". Here are the steps:
To import the certificate into the macOS Keychain on a Macintosh, double-click the certificate file or drag the certificate file onto the Keychain Access icon. Follow the instructions.
This procedure should be the same for other Adobe products such as Acrobat Professional. It presumes you have imported your certificate into either the Windows Certificate Store or the macOS Keychain.
To check to see if your certificate is visible to Adobe Acrobat Reader DC, and to make it the default:
To sign a PDF document: