If you only want to read, just add a forwarder for that email address to your Gmail in your cPanel.
If you also want to send mail as that email address, you'll need to configure the smtp settings in Gmail.
It's easy, you just need the username (= the email address most of the time), password, host (mail.domain.com for example) and port (465 most of the time).
You'll find these settings in your cPanel.
Hope that helps.