at a low level you would use either the "smbmount" command, e.g. "smbmount //server/share /mountpoint" or the mount command, "mount -t smbfs //server/share /mountpoint" you can then continue to add an entry to the /etc/fstab file to allow a quick and automated mount. please see the mount, smbmount and fstab manpages for details of these functions.
You may well want a more windozey solution, in which case both GNOME and KDE's file managers can do this for you, normally a case of using a url like smb://server/share in the address base and a very windows like right click and mount.
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