Determine where the anchor bolts will be located at each of the four posts. Place a post-base anchor on the concrete at each post location and use a marker to indicate where the bolts will go.
Drill 3/16-inch pilot holes with a masonry drill bit mounted in a power drill that has a hammer chuck installed. The hammer chuck can be omitted, but the rotating action of the drill combined with the up and down motion of the hammer makes holes drill faster and more cleanly than just using a regular chuck.
Drive anchor bolts through a post-base and into the concrete. These bolts are made to "catch" on concrete and hold firm.
Place a post into the post-base and plumb it with a level. Secure the post in place by driving a stake into the ground nearby and clamping a scrap piece of wood to the post, then anchoring the other end to the stake with another clamp. Check for plumb once more.
Mount the post to the post-base by hammering nails through the pre-drilled holes in the base.
Repeat Steps 4 and 5 for the remaining posts.