If you start it in a console with --help it tells you this :
Usage: minerd [OPTIONS]
Options:
-o, --url=URL URL of mining server (default:
http://127.0.0.1:9332/)
-O, --userpass=U:P username:password pair for mining server
-u, --user=USERNAME username for mining server
-p, --pass=PASSWORD password for mining server
-x, --proxy=[PROTOCOL://]HOST[:PORT] connect through a proxy
-t, --threads=N number of miner threads (default: number of processors)
-r, --retries=N number of times to retry if a network call fails
(default: retry indefinitely)
-R, --retry-pause=N time to pause between retries, in seconds (default: 30)
-T, --timeout=N network timeout, in seconds (default: 180)
-s, --scantime=N upper bound on time spent scanning current work,
in seconds (default: 5)
--no-longpoll disable X-Long-Polling support
-q, --quiet disable per-thread hashmeter output
-D, --debug enable debug output
-P, --protocol-dump verbose dump of protocol-level activities
-c, --config=FILE load a JSON-format configuration file
-V, --version display version information and exit
-h, --help display this help text and exit
So the most simple way is this :
minerd --url
http://poolofyourchoice:9332/ --userpass yourusername:yourpassword