This should get you started and then you subsequently customize to your likings
library("tidyverse")
d = tibble(A = c(91, 4, 3, 2),
B = c(80, 5, 5,10),
Category = factor(seq(1, 4)))
d %>%
gather(Group, value, -Category) %>%
ggplot(aes(x = Group, y = value, fill = Category)) +
geom_col() +
theme_bw() +
theme(legend.position = "bottom")