@thisisdaryn 's solution is the tidiest way but if for some reason you need to use separate columns, you can set legends manually this way
library(ggplot2)
colors <- c("Sepal Width" = "blue", "Petal Length" = "red", "Petal Width" = "orange")
ggplot(iris, aes(x = Sepal.Length)) +
geom_line(aes(y = Sepal.Width, color = "Sepal Width"), size = 1.5) +
geom_line(aes(y = Petal.Length, color = "Petal Length"), size = 1.5) +
geom_line(aes(y = Petal.Width, color = "Petal Width"), size = 1.5) +
labs(x = "Year",
y = "(%)",
color = "Legend") +
scale_color_manual(values = colors)