Just as you would for any other database?
You can use the Teradata JDBC driver to submit SQL statements directly, and/or drive some application that uses Teradata on the back end.
Documentation for how to configure a JDBC connection for JMeter is available here:
For the "JDBC Driver class" field in JMeter, specify com.teradata.jdbc.TeraDriver
For the "Database URL" field in JMeter, specify the appropriate Teradata JDBC Driver connection URL. Documentation about how to compose the Teradata JDBC Driver connection URL is available here:
The Apache JMeter documentation says that the JDBC Driver's jar files must be present on JMeter's classpath, and also says that it is "easiest to copy .jar file into JMeter's /lib directory".
For the Teradata JDBC Driver, you should copy two jar files terajdbc4.jar and tdgssconfig.jar into JMeter's lib directory.