Go to the first Macintosh HD, erase it on the erase tab, then close Disk Utility. Go to install/reinstall OS X and internet recovery should download a fresh copy of Yosemite and install it for you. You can then boot it up and configure it if you want. Or hit Command + Q at the setup screen to keep it like new for the next owner. Should be pretty simple.
If you get lost:
How to reinstall OS X