Installing the RPM's will get you to this point easily enough, but here's the part you might not be sure about if you haven't done this before.
There are two files in /etc, one called auto.master and one called auto.misc.
My auto.master looks like this:
/auto /etc/auto.misc --timeout 60
The first entry is not the mount point. It's where the set of mount points (found in the second entry) are going to be. The third option says that the mounted filesystems can try to unmount themselves 60 seconds after use. They can't unmount if being used, of course.
Auto.misc is a "map file". Multiple map files can be defined in auto.master. My auto.misc looks like this:
kernel -ro,soft,intr ftp.kernel.org:/pub/linux cd -fstype=iso9660,ro :/dev/cdrom zip -fstype=auto :/dev/hdd4 floppy -fstype=vfat :/dev/fd0
The first column (the "key") is the mount point. In this case it would be /auto/floppy or whatever. The middle set are the options; read the mount manpage for details on this. And the last column specifies where the fs comes from. The "kernel" entry is supposed to be an NFS mount. The : on all the other lines means its a local device.