Another very vague question that a search could have done for you. You can use rsync, tar, cpio, dump, restore, Amanda, Bacula, BackupPC or you could go the commercial route with plenty of others.
Probably the easiest way would be a combination of rsync and tar, with maybe gzip to compress. Lots of people setup custom scripts with rsync to perform their backups. Now go read what's best for you and works best for you.
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