You shake the keg while adding CO2. You will hear the hiss of the regulator while doing so until the beer is 12-14 psi.
Step by step (assuming corny keg): Clean and sanitize keg. Then put a blast or three of CO2 into the open keg. Next rack the same way as if you were going to a bottling bucket, only you are heading to a keg. The CO2 in the keg will curtain O2 from getting into your beer you are racking into the bottom of the keg due to O2 being lighter and should stay on top of your beer and be pushed out by incoming beer. Once the keg is filled to the desired level, put the lid on your corny and attach the gas-in connection hooked to your CO2 regulator and bottle. Now you need to purge the last remaining possible O2 from your keg while it is still on top. You do this by turning on your CO2 regulator down to 6psi or lower and fill until the reg stops hissing. Then you pull/flip/whatever your pressure relief valve on top of your corny until nothing more gases out. Do this twice to be sure. Also if your corny happens to have one of those non-manulally activated relief valves, you will have to remove your gas-in connection and push the pin/ball lock down to purge the CO2.
Now, to carbonate: CO2 should be hokked up to gas-in, regulator set to 12-14 psi, and turn on gas and shake the keg to create more surface area for the carbonation to happen quicker. It really is that easy. You can carbonate quicker the closer the beer is to 32*F but other than that, I have carbonated 70*F beer before so it can be done.