[Centos] Install additional packages from CD

Hi,

Newbie here... :)

I've installed Centos 3.1 with selecting Custom Packages.
Now, I want to install some packages not installed the first time.

The manual says that I can use redhat-config-packages but there are no
packages that's not installed, just installed packages. So, I can only
remove packages....

So, how do I install addtional packages from CD without having to
reinstall? I've tried installing manually by opening the RPMs but it
always complain about dependency...

Thanks,
Yayan