Which an be as simple as adding this to your Servlet, Filter, or Listener:
@EJB
private HelloLocal helloLocal;
See the @EJB Injection Example for a running example. The example uses one ejb to refer to another ejb, but the same rules apply for servlets.
Or on the older xml-style:
<ejb-ref>
<description> EJB Reference to the bean deployed to OpenEJB </description>
<ejb-ref-name>ejb/hello</ejb-ref-name>
<ejb-ref-type>Session</ejb-ref-type>
<home>org.acme.HelloHome</home>
<remote>org.acme.Hello</remote>
</ejb-ref>