Turn the main water valve 90 degrees to the off position. The main water valve is probably located in a basement or crawl space, and has a yellow handle. It's likely located near where the water pipe enters the house.
Identify a faucet outside where you want to install the sprinklers, and open the valve all the way to drain any water inside the pipe.
Place an adjustable pipe wrench around the hex nut on the faucet, and turn the entire faucet counterclockwise to remove it.
Place a galvanized steel pipe nipple into the fitting on the pipe where the faucet used to be. Turn the nipple with the wrench until tight. At this point, you can choose to install a Y-adapter and continue using the port for both a faucet and the sprinkler system. Or, you may simply attach the sprinkler system manifold to the new pipe nipple.
Screw the Y-adapter into the pipe nipple, if desired. Attach the old faucet by turning it clockwise into the top of the Y adapter until tight.