The high level steps are to:
- Provision a User Profile Service Application
- Start the User Profile Service
- Start the Synchronization Service
- Create a Synchronization Connection
- Run the import
You have to choose how you want to import user profiles, you can do a direct AD sync that will not require FIM (but is limited in many ways) or use FIM to perform and import and optional export of properties.
Either way, FIM is installed as a prereq of the SharePoint installation.
The full details of all the minutia to get the UPS running are on Spence's blog: http://www.harbar.net/articles/sp2010ups.aspx the article was written for 2010 but still applies.