Here is a simple howto on adding windows 2003 computer to a Windows Server 2003 domain.
This should be valid for other version of windows client computers too.
Before performing the following steps, make sure that your computer can reach the domain controller through the network. You may use ping to test if your computer can communicate with the domain controller.
First of all, right-click My Computer, and then click Properties.
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Select “Computer Name” and click “Change”
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A new windows will appear.
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Select “Doman” radio button and key in your domain name. Press “OK” button.
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Enter user name and password of the domain administrator. Click “OK” after that.
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If successfully joining the domain, you will receive a message welcoming you to the domain.
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As a final step, reboot your computer.
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That is it!