Two options, both accomplish the same goal:
Option 1: Apple (Command) + K. Then enter the server/folder path like so: smb://server/folder. Enter your username and password, if prompted.
A new icon will then be placed on your desktop and in the finder, under "Shared".
Option 2: Click on "Go", then "Connect to Server", then enter the server/folder path like so: smb://server/folder. Enter your username and password, if prompted.
A new icon will then be placed on your desktop and in the finder, under "Shared".
Hope this helps.