Many online mining pools offer Ethereum mining. Ethminer can be used to connect to a mining pool using the following command. Each pool publishes its instructions, but generally, the process of connecting to a pool is similar. An example from http://ethereumpool.co is shown here:
ethminer -C -F http://ethereumpool.co/?miner=0.1@0x024a20cc5feba7f3dc3776075b3e61234eb1459 c@DrEquinox
This command will produce output similar to the one shown here:
miner 23:50:53.046 ethminer Getting work package . . .