If you can avoid keeping a history, do. It's a pain.
If a complete history is unavoidable (regulated financial and medical data or the like), consider adding history tables. Use a trigger to 'version' into the history tables. That way, you're not dependent on your application to ensure a version is recorded - all inserts/updates/deletes are captured regardless of the source.
If your app needs to interact with historical data, make sure it's readonly. There's no sense capturing transaction histories if someone can simply change them.
If your concern is concurrent updates, consider using a record change timestamp. When both User A and User B view a record at noon, they fetch the record's timestamp. When User A updates the record, her timestamp matches the record's so the update goes through and the timestamp is updated as well. When User B updates the record five minutes later, his timestamp doesn't match the record's so he's warned that the record has changed since he last viewed it. Maybe it's automatically reloaded...
Whatever you decide, I would avoid inter-mingling current and historic data.
Trigger resources per comments:
The keys to an auditing trigger are the virtual tables 'inserted' and 'deleted'. These tables contain the rows effected by an INSERT, UPDATE, or DELETE. You can use them to audit changes. Something like:
CREATE TRIGGER tr_TheTrigger
ON [YourTable]
FOR INSERT, UPDATE, DELETE
AS
IF EXISTS(SELECT * FROM inserted)
BEGIN
--this is an insert or update
--your actual action will vary but something like this
INSERT INTO [YourTable_Audit]
SELECT * FROM inserted
END
IF EXISTS(SELECT * FROM deleted)
BEGIN
--this is a delete, mark [YourTable_Audit] as required
END
GO