Yes. Click so that your menu bar says "finder" and do either Control/Apple/Command(whatever you know that button by) + Shift + K (press and hold a then b then c)
That should pop up your "network" window. You can also access it by going under your menu bar within finder - in the "go" tab.
You should see the computer or drive in there - and double-click to mount it on your desktop. If you get an authentication notice - and there is no user name or password required for the drive/directory you require access to - leave it blank, and remember it in your keychain so you don't get it next time around. If credentials are required - that is where you type them in.
You can even set up network volumes to automatically mount upon OSX login - but I can't remember how I did it - it was a long time ago. I think putting the alias created into your "accounts" login pref-pane. You can dig it up on here via search easily.