Pretty much here is how I do it. Have the nfs-utils extension loaded at boot, and then use the bootlocal.sh file to do the rest. Though there are other ways of doing this, it is how I do it.
bootlocal.sh:
mkdir /mnt/nfs
/usr/local/etc/init.d/nfs-client start
mount 192.168.0.10:/mnt/sda3 /mnt/nfs
Of course this assumes you have your nfs server set up accordingly.