I am just so used to sudo command with Ubuntu that I am going to need to do the same with Cent OS. Here is how to add a user to sudoer in Cent OS. This is a bit different from how you would do with Debian systems discussed here.
To get root access in Cent OS, run
As a root, to give a user permission to use sudo command, run
# usermod -aG wheel USER_NAME
That's it. The user must log back in order for the change to take effect.