The basic template of iambic pentameter is:  * / | * / | * / | * / | * /  which is usually varied by substitution.

Here are lines by Christina Rossetti from "Remember" that are pretty regular iambic pentameter:

                             Remember me when I am gone away,
                                     Gone far away into the silent land;
                                     When you can no more hold me by the hand,
                                 Nor I half turn to go yet turning stay.

John Keats's "The Eve of St. Agnes" is in Spenserian stanzas, in which all but the last line is iambic pentameter:

                                 A casement high and triple-arch'd there was,
                                All garlanded with carven imag'ries
                                Of fruits, and flowers, and bunches of knot-grass,
                                And diamonded with panes of quaint device,
                                Innumerable of stains and splendid dyes,
                                As are the tiger-moth's deep-damask'd wings;

See also all the examples under (among many other terms)  blank verse, closed heroic couplet, open heroic couplet, and enjambed heroic couplet.