Summarize this article:

Close any windows that open when the disc is inserted. If you don't have iTunes, you can download it for free from Apple's iTunes website.   By default, all of the songs will be checked.  These settings will provide the best quality for your iPod. OK. iTunes will begin copying the music from the CD to your computer.

Summary:
Insert the CD you want to copy into your computer. Start iTunes. Click the CD button at the top of the iTunes window. Click "Options" → "Get Track Names" if iTunes doesn't automatically display the track names. Uncheck any songs you don't want to copy. Click "Import CD". Leave the settings at their default. Click .