Really depends on the type of heating system you have? I lost my psychic powers a few years back
Personally if it's a sealed system I use a towel rail rad (if there is one) and simply pour into the top after removing the blanking plug and draining the system of course or I pour it into a rad by doing similar however you can buy kits to inject it into a system but i prefer the pouring method.
On an open vent system you pour into the F&E tank after first drain some of the system water off.
As I said there are loads of different methods.