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How to fetch actual approver for each step of the approval process from approval history

We have a custom object Price Reuqest and have complex approval processes defined for it. We want to capture the Actual Approver for each step of the approval process. I checked forums about using ProcessInstanceHistory and ProcessInstanceWorkItem but i do not understand where to start from. Any help or code or steps on how to accomplish this will be helpful.
Please use below query to get the Actual Approver(Actorid):
SELECT Id, (SELECT Id,TargetObjectId , StepStatus,Actorid, Comments FROM StepsAndWorkitems where StepStatus = 'Pending')
FROM ProcessInstance