I realize you are working with 2010, but you may be able to use the same approach as from SP2016, so I will reference below, but if not, here are some links to 2010 resources:
http://www.harbar.net/articles/sp2010ups.aspx
https://docs.microsoft.com/en-us/sharepoint/install/create-a-user-profile-service-application
This snippet is from page 341 of Vlad Catrinescu and Trevor Seward's, Deploying SharePoint 2016, which I recommend getting if you will continue working with SharePoint. It's a great resource I keep next to me.
$sa = New-SPProfileServiceApplication -Name "User Profile Service Application" -applicationpool "SharePoint Web Services Default" -ProfileDBName 'Profile_DB_2013' -SocialDBName 'Social_DB_2013' -ProfileSyncDBName 'Sync_DB'
We then need to create Service Application Proxy by using the following cmdlet.
New-SPProfileServiceApplicationProxy -Name "User Profile Service Application Proxy" -ServiceApplication $sa -DefaultProxyGroup
You can purchase their book here:
https://www.amazon.com/Deploying-SharePoint-2016-Configuring-Maintaining/dp/1484219988
Please note, as with anything like this, the names of service applications, application pools, and databases, are all subjective and will need to be determined by your existing environment.
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Pluralsite is pretty great for self serve both admin and dev modules.
Also lot of good content on channel9... ie this whole series with Bill and Brian was great https://channel9.msdn.com/Series/Tuning-SQL-Server-2012-for-SharePoint-2013
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