First you need a kernel with NFS filesystem support (or modules) and some packages installed :
dpkg -l nfs-\* | grep ii
ii nfs-common 1.0.6-3 NFS support files common to client and serve
ii nfs-kernel-ser 1.0.6-3 Kernel NFS server support
Next you add a line like this and you replace with your own sttings :
/data 192.168.10.2(rw,no_root_squash,sync)
And finally you restart nfs (with root) with the command /etc/init.d/nfs-kernel-server restart
On the zaurus
mount -t nfs -o hard,intr,nolock,nfsvers=2 192.168.10.1:/data /tmp/p
I hope this help you