http://www.dratek.com/drupalDownloadManager

The following modules are required:

admin_menu-6.x-1.5.tar.gz
captcha-6.x-2.2.tar.gz
cck-6.x-2.7.tar.gz
ckeditor-6.x-1.1.tar.gz
filefield-6.x-3.5.tar.gz
imce-6.x-1.3.tar.gz
joomla-6.x-1.0-alpha4.tar.gz
phpbbforum-6.x-2.0-beta12.tar.gz
recaptcha-6.x-1.4.tar.gz
views-6.x-2.11.tar.gz

Download them into the folder sites/all/modules and unpack them.

tar xzf admin_menu-*.tar.gz
tar xzf captcha-*.tar.gz
tar xzf cck-*.tar.gz
tar xzf ckeditor-*.tar.gz
tar xzf filefield-*.tar.gz
tar xzf imce-*.tar.gz
tar xzf joomla-*.tar.gz
tar xzf phpbbforum-*.tar.gz
tar xzf recaptcha-*.tar.gz
tar xzf views-*.tar.gz

Now go inside drupal to Adminstration → Site Building → Modules and enable the following modules, then Save and Continue:

Administration menu
FileField
Node Reference
Text
Content translation
Search
Upload
CKEditor
IMCE
Image CAPTCHA
Views UI

Now click the update.php link on top of the page.

Unpack the editor so the CKEditor module can use it, go to you sites/all/modules folder:

cd ckeditor
tar xzvf ../ckeditor_3.2.1.tar.gz

Go to permission and enable ckeditor for the group you like. Go into the ckeditor settings and select as file browser icme. To enable the browse functionality we have to edit a config file sites/all/modules/ckeditor/ckeditor.config.js. Uncomment the following lines:

      // config.extraPlugins += (config.extraPlugins ? ',mediaembed' : 'mediaembed' );
      // CKEDITOR.plugins.addExternal('mediaembed', Drupal.settings.ckeditor.module_path + '/plugins/mediaembed/');

Check your editor, you should be able to access ICME directly from ckeditor, to upload files/pictures browse them and select them very comfortably now.