you can add to /etc/fstab a line that is similar to the following:
/dev/sda1 /media/usb auto noauto,user,kudzu,managed 0 0
and create the mount point directory. these options will let hal manage the device and you'll get the pretty icon on the desktop if you use kde or gnome des.
to determine the device, look at /var/log/messages and it will show what device was plugged in and recognized by the kernel, in the event it is not /dev/sda1 (likely to be different if you have any scsi or sata drives).