You have to edit your /etc/fstab file to be able to mount them at boot time.
fstab looks like:
device moint point file system options 0 0
So, you have to looks for the device you want to mount, create a mount point, file system will be vfat (see "man fstab" for more info) and options, you can use "users,codepage=850,isocharset8859-15" (note the commas between the options). See "man fstab" or "man mount" for more options.
Remember to create the mount point, just make the directory with mkdir (usually in /mnt directory).
For mounting it manually, just type "mount <device> <mount point>" and have fun
Hope this helps