The IRS has a few ways you can set up payment arrangements. Just to clarify, these steps are for the Federal IRS and not a state department of revenue balance due.
Here is a great link on the process: IRS Payment Plan Information
You can do the online payment agreement Application here: Payment Agreement Application
Please note, that there may be a fee to set up the agreement based on the time you need to repay. The 1st link above covers that for you.
If you need to repay a state taxing authority, I suggest contacting that state as each one may have their own rules and application process.
