if you have full dns control over a domain, you can assign A records for that domain for the IP of your server. you don't need to change nameservers, just DNS entries. so the two typical entries would be
@ A 123.456.789.012
www A 123.456.789.012
the @ simply means that
http://domain.com points to your servers IP, and www means that
http://www.domain.com points to your servers IP too. "A" is the type of entry. most companies that host domains should let you change these things. Then, i believe OVH let you change the Reverse DNS, so for that you'd enter in domain.com.
its important to note the fullstop at the end of the domain,
domain.com. that has to be there thats a basic overview of how to do it