All variants of Unix such as Red Hat, Solaris and FreeBSD have the capability of telneting to a remote host by simply typing in the command telnet.
Once at the telnet prompt type:
open <hostname>
The hostname will be the domain, shell account or IP address.
If properly done you should be connected to the server and prompted with the username and password. If you have an account setup on the computer you are attempting to connect to enter it now. If you are connecting to which does not have a user account setup for you attempt to log in anonymously by typing in something similar to:
username: = anonymous
password: = myname@myemail.com
If supported this should allow you to log into the server anonymously.
Once you have been connected into the computer you will be able to navigate through the prompt much like you will on your command line on your local machine.