Assuming that you have a usb/otg connection lead - something like this USB A 2.0 female to Micro USB B male Cable Adapter: Amazon.co.uk: Electronics then you just connect the drive and it should appear in any file manager app. Open the app first and then plug in the usb drive. It wont show if you plug it in first.
When you want to remove it, do this before unplugging it
menu button
system settings
storage
unmount USB OTG storage
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