Installation depends on how your project is setup:

If you're using the bin/vendors.php method to manage your vendor libraries, add the following entries to the deps in the root of your project file:

[GoFriendlyRoutingBundle]
    git=http://github.com/golovanov/GoFriendlyRoutingBundle.git
    target=/bundles/Go/FriendlyRoutingBundle

Next, update your vendors by running:

$ ./bin/vendors install

Great! Now skip down to Step 2.

If you're managing your vendor libraries with submodules, first create the vendor/bundles/Go directory:

$ mkdir -pv vendor/bundles/Go

Next, add the two necessary submodules:

$ git submodule add git://github.com/golovanov/GoFriendlyRoutingBundle.git vendor/bundles/Go/FriendlyRoutingBundle

Add the following entries to your autoloader:

<?php
// app/autoload.php

$loader->registerNamespaces(array(
    // ...

    'Go'    => __DIR__.'/../vendor/bundles',
));

Finally, enable the bundle in the kernel:

<?php
// app/AppKernel.php

public function registerBundles()
{
    $bundles = array(
        // ...

        new Go\FriendlyRoutingBundle\GoFriendlyRoutingBundle(),
    );
}