What FTP Program did you put on the server, i use a program called Serv-U (Google Serv-U tutorial).
I use CuteFTP to connect to the server - It is pretty straight forward and simple.
Let me do some screenshots for you.
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As i don't know what FTP Program you are using, I'm going to have to wing this.
There should be a function on your FTP Program to create a new server connection.
It should look in the region like this.
1. Enter desired name (Me).
2. IP Address of you your server.
3. Enter server username you created when setting up FTP on the server.
4. Enter password you created when setting up FTP on the server.
Simpler option: At the top of the FTP program you should see.
Host:, Username: Password:, Port: 21
Just fill them in, then connect.