Finder -> Go -> Connect to Server. Enter in the path (e.g. smb://10.0.0.189/mySharedFolder. the "smb://" if it's a windows share). Drag the newly created shortcut, on the desktop (Finder -> preferences if you don't see it), to a Finder window into the folder that you want it in.
Click on the new alias and it will automatically connect, if not connected already.