If you do nothing with your ada i.e you just leave it in Daedalus or Yoroi you earn no rewards.
If you're using Daedalus want to delegate to get rewards from a stake pool, which would be the easiest way to stake, then you have to transfer your ada into a Shelley style address, and then delegate your stake to a stake pool of your choice.
Now if you set up and run a stake pool, you get to choose how many rewards you keep for yourself vs share with any other members of the stake pool.
Staking and delegation are two sides of the same coin. Staking is running a node that participates in the staking lottery to get the right to create blocks. When you win the right to create blocks and you do so, then you get rewards. Delegation is like backing the node playing the lottery with the intent of earning a piece of the rewards that the staking node gets.