If you're managing the Matrices yourself to use modern OpenGL, you can do it like this
and multiplying it in your shader (this is how you should do it).
GLint uniLoc = glGetUniformLocation( mProgramName, "u_worldspace_matrix" );
if( uniLoc != -1 )
glUniformMatrix4fv( uniLoc, 1, GL_FALSE, m );
Where m is an array of 16 floats the make up your matrix and mProgramName is the name of your shader program.
If you're not using shaders or managing the matrices yourself, you can do this:
Where m is an array of 16 floats that represent the matrix to multiply with the current matrix opengl already has.
Once you've done that, you just draw the object using the method of your choosing and it will magically be hopefully where you wanted it to be.
I suggest you learn about modern OpenGL, and I think overv's open.gl should give you at least a little bit of information on the topic.