When you click on a unit, such as an infantry unit, you will see options to command it. An arrow to move, a curved arrow to skip turn, and (if it is standing next to an Army Commander) an option to join the commander.
You may also see another option, very similar in appearance, with a rectangle of dots, to "reinforce army." (under certain conditions).
Effect: you will be asked to select a commander that has space available, then the unit will disappear from the map. It will magically move itself to the commander and pack itself when it gets there. It will not be subject to danger along the way.
Conditions: A commander has to have open space. The commander has to be more than 5-6 spaces away from the unit; in that case, you move it yourself. The commander can't be embarked in the water.