In this paper we explore the consequences of the interaction between internal gravity waves, rotation-induced mixing and atomic diffusion on the rotation profile and internal element distribution of main sequence low-mass stars. We present the first fully hydrodynamical models that include self-consistently element and angular momentum redistribution by these three mechanisms. We show how internal gravity waves extract angular momentum from the deep stellar interior and shape the internal rotation profile of solar-type stars. We compare predictions of our models with lithium observations in open cluster stars.