Starting in Xcode 7.2 Apple has provided an option to create a free iOS development provisioning profile that allows to write and test your application on a real iPhone. Go to Xcode --> Preferences --> Accounts --> + (Add new Appli ID you your credentials) --> Click on the Apple ID created --> Manage Certificates --> + (Apple Development) --> Done
Then, in order to run your application in your iPhone you need first to indicate the iPhone to trust the computer. Then, you can try to run the application in the mobile from Xcode, but and error will appear. So go to Settings --> General --> Profiles and Device Management --> Select the untrusted profile and click "Trust".