First, start xboard as an ics client:
xboard -ics -icshost freechess.org
I am assuming, that both players, a and b started xboard, and logged in.
In order to examine a chess game together with a friend of yours, issue the following commands (The a: part is indicating which player is entering the command):
a: examine
This will print out the game id. In my case, it is 194. Now, the other player needs to observe that game
b: observe 194
Now, we are observing the game with player B. The next step is to enable mexamine:
a: mexamine b
After this, both player are examining the same game.
To end the examination:
a: unexamine