You can apply for a payment plan (Form 9465) at the IRS Payment Plans and Installment Agreements website. Make sure you've filed your return before applying through their site.
Most states offer an installment payment plan as well, although the procedure varies from state to state. You can contact your state Department of Revenue for details.
The IRS does charge a user fee for setting up or reinstating an installment agreement.
Click this link for more information on setting up an installment plan with the IRS: Can I set up a payment plan for my taxes?