Select a concrete anchor which is suited for the application. For most applications, a lead shield concrete anchor is the strongest and most versatile concrete anchor. Concrete sleeve anchors are also versatile and reliable in most applications.
Mark the holes which are in the steel member, or steel connector plate onto the concrete pier/foundation/pad.
Drill holes in the concrete to match the holes in the steel connector plate with a hammer drill and carbide tipped, rotary percussion drill bits. Pour a small bit of water on the tip of the drill bit as it drills into the concrete. The water keeps the drill bit cool and helps the bit chew into the concrete.
Insert the concrete anchor into the hole. The hole must be deep enough for the shield to insert completely. The top of the shield should be just below the surface of the concrete.
Hold the steel beam/plate up to the holes and insert a lag screw with washer into each hole. Tighten the bolts until the steel is firmly pulled to the concrete. Do not over-tighten the bolts or use a drill to tighten them. Most concrete anchors will strip out if too much force is applied to the head of the bolt.