Use the Up, Down, Left, and Right arrow keys of the numeric keypad to rotate the scene accordingly.
The rotation is done step-by-step around the center of rotation (by default, the center of the scene).
As you would expect, the Left arrow key rotates the scene to the left, the Right arrow key rotates the scene to the right, etc.
See chapter User Manual/Tools/Control Panel/Point of view to change the center of rotation of the scene.

Press the Control key while pressing the arrow keys to scroll the scene sideways or up and down.

If you press the Shift key while pressing the arrow keys, the point of view will switch successively to each main view, depending on the arrow key used.
The first main working plane view shown will be the one nearest to the current perspective view.