Although you could use telnet, its much better to use a Real MUD client. What you use depends on if you are on unix or windows.

For unix systems I recommend TinyFugue. The windows version of it will work for win98, but not NT (and therefore, probably not XP)

For windows, Genius seems to work well.

Try us out at: centauri.myvnc.com:7777

The current listing is maintained at The Mud Connector