You don't irrigate
directly in the sense of there being a command to irrigate. Farms by the river are irrigated. If a farm is not by the river then it will not be irrigated until you research Biology.
However it is possible to create an irrigation chain by building a number of farms in a line from the river up to the farm you want to be irrigated. At least that is how I understand it. If I'm wrong then I'm sure someone will correct me soon.