Multitape Turing machines against single tape Turing machines
Look at the original paper by Hennie and Stearns:

F.C. Hennie and R.E. Stearns, "Two-Tape Simulation of Multitape Turing Machines", Journal of the ACM (JACM), Volume 13 Issue 4, Oct. 1966, pp. 533-546

The construction is a little bit elaborate, but not extremely difficult to understand. The basic idea is to store and keep the current symbol of each tape in the same fixed column (home column) and simulate a shift of the $k$ tapes using a series of partially filled "buffers" of increasing length placed on the two tapes on the left and right side of the home column in order to avoid a full shift (that would require $O(t(n)^2)$ steps). If you need further help, modify the question and ask about the points in the paper that are not clear.