Arduino analog out to 2V-10V ?

I have a 12 VDC power supply for Arduino, and 24 VAC power supply what my valve needs, but it also needs a control signal 2-10 VDC.
What is easiest way to get correct voltage to control that valve with Arduino ?

Not very much knowledge about analog electronics, so far mostly digital :stuck_out_tongue:

Here is a circuit that will drive 0V to 10V analog out:

-- The Ruggeduino: compatible with Arduino UNO, 24V operation, all I/O's fused and protected

Just what i needed, thank you !