Paid & Free Membership Types

Hi all, please forgive me if this has already been explained somewhere, however I have been unable to find it. I am new to these parts so still having trouble finding things.

I am looking to create two membership type to my website, basically paid/premium and free. Each will have different access levels etc... etc... is there a way or plugin that makes this possible that anyone is aware of?

Many thanks in advance for any help you can offer...