You can either mount it from a command line or add it to your /etc/fstab file to mount at boot time like this:
<ip or hostname of server>:/<shared-folder> /mnt/directory nfs rsize=8192,wsize=8192,timeo=14
This is explained in the man pages. man nfs for more details or take a look at the NFS howto's at www.tldp.org
for more options, setups.. etc.