With SSRS 2005 there's 2 ways, the old way involved creating web parts to contain a Report list and a report viewer and you set the url to point to the report server. SSRS now can be installed in Sharepoint Integrated mode which couples more closely to sharepoint.
I've not delved into this far so can't tell you much more. But this mode would appear to not use Report Manager and therefore I would imagine there are some options or wizards within sharepoint to hook into this.
Look at this link for more depth;
http://blogs.msdn.com/sharepoint/archive/2007/02/19/microsoft-sql-server-2005-sp2-reporting-services-integration-with-wss-3-0-and-moss-2007.aspx
