How to mount from command line like the Nautilus does?

What you are looking for is gio mount (it recently replaced gvfs-mount, which replaced gnome-mount).

There is a man page here or you can just type gio help mount for the details

The basic usage is:

gio mount --list --detail to get a list of mounted and mountable volumes

gio mount [-u] <volume> to [un]mount it, e.g. gio mount smb://server/share or gio mount WINDOWS.

Sadly, there seems to be a bug that results in a "Error mounting location: volume doesn't implement mount" message trying to mount by volume name, but gvfs-mount -d /dev/<devicename> might work.

In modern distributions, HAL is no longer used. The pmount still exists, but it is deprecated. Use:

udisks --mount /dev/sdXN

Answer Update:

The udisksctl command is being used as an alternative to the udisks command. This can be used the same way, -b is just to be appended to define the block device.

udisksctl mount -b /dev/sdXN