Mounting the fat32 drive would involve editing your /etc/fstab file, which controls mounting partitions. su yourself and then use your favorite editor to edit the file. Add another line like this:
/dev/hd** /mountpoint vfat rw,users,auto,sync,umask=0000 0 0
Replace the ** with the proper drive numbering. Based on what you've said so far I'm guessing that it would be /dev/hdb2, but run fdisk -l as root and find your fat32 partition to be sure. Then you have to figure out where you want the partition to be mounted. Some use the /mnt folder, although I personally just put it in my home folder. So do something like
or wherever you want it to be mounted, then replace the /mountpoint in the fstab file with that directory. Then you just do mount /dev/hd** and you should be able to explore the drive and his full read/write access to the files on it. It also should mount on bootup, so you don't have to worry about mounting it every time. Hopefully this works for you.