To connect to a server using command prompt (for Microsoft Windows) or terminal (for Linux), use the "ftp"' command followed by the server IP-address.
Say, for example, that the server IP address is "10.2.2.25", so you'd write the following on your command prompt:
$ ftp 10.2.2.25
Then click enter.
After few seconds you'd be connected directly to your server and can brows it using usual commands such as cd, get, ls, etc.
And in order to log-out or disconnect from this server connection, just use the command "quit"