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If there is a script in /etc/init.d then you can usually call the script with the parameters start/stop/restart.
The above command would restart my ftp server.
If you want these services to be started at boot then you should add links in the /etc/rcX.d directories for the proper runlevel.
They are named Sxxxscriptname the S means to start the server the xxx is the number which decides when it's started and the scriptname is just a logical name.
Most decent distributions have gui's to help you get these things done but don't ask me about those because I've never used them.
When I want to add something to my bootup, I usually just copy one of the existing scripts in /etc/rc.d/init.d and modify/rename it. Then create links to start/kill it in the runlevel dirs, as Mik pointed out. It's pretty simple actually.