When posting a topic, clicking the small picture of an image (the Monna Lisa) will insert some code for you in brackets. You can click that or just write the small code yourself.
What you want to do is place the link to your picture between the two sets of bracketed "img" tags. It should look like this while you are writing the post:
[img]<put your link to your image here>[/img]
After you post your message, that code will be replaced by the image itself.