If you want to mount it manually, you can do this:
mount //192.168.1.100/your/share /media/dir/on/local/machine
replace the IP with the IP of the machine you want to connect to, followed by the dir you want access to on the remote machine. then mount it somewhere in /media on the local machine.
it is way easier to just add it to /etc/fstab. it is automatically mounted while you are on that network. If it fails to mount, It wont cause you any problems.