If you're trying to console into a router via its aux port, no special commands are necessary. Just make sure there's no config on the aux line to block console access.
If you're on the router trying to telnet to the aux port (to reach an attached device), first have a config on the aux port that will let you do that. Try this:
line aux 0
login authentication 1
no exec
transport input all
Then - when you want to telnet to the aux port, do like so:
# telnet [local_ip] [port]
The local ip - use your loopback address. If you don't have one - create one. If something is stopping you from doing that - then you should be able to use the IP of an interface.
The port number is a little tricky. Basically - it's the 2xxx port number that the router assigns to the aux port. To find it, do a
# show line
Find the line with AUX as the type (there will only be one). The number to the left will be the number for the aux port. So, considering the 2xxx port number format, fill in the x's with the number you get for the aux port.
So, for example, I have a 3640. The loopback is 10.1.1.1. When I do the show line, I find the aux port listed:
129 AUX 9600/9600 - - ....
So, to telnet to the Aux port, I'd do a
# telnet 10.1.1.1 2129
If you have a smaller router, expect to see a lower number like:
65 AUX 9600/9600 - - ....
Then you just do # telnet 10.1.1.1 2065.
Good day!
Paul