First, install the samba filesystem:

apt-get install smbfs

To manually mount a samba share:

mount -t  smbfs -o username=<username>,password=<password>,iocharset=utf8 //<servername>/<sharename> /mnt/point/

iocharset=utf8 is necessary to transfer filenames in utf8 charset (e.g. German character filenames).

To have the samba share mounted during boot-time, edit fstab:

mkdir /mnt/<sharename>
vim /etc/fstab
//<servername>/<sharename>  /mnt/<sharename>  smbfs  username=<username>,password=<pwd>,iocharset=utf8  0  0