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I assume you have already designed the CPLD logic and used Xilinx's place-and-route tools to generate the programming file.
Here's one way:
Buy a JTAG programming cable such as Xilinx's Platform Cable USB, Xilinx's Parallel Cable IV, Digilent's JTAG3 (inexpensive), or some other compatible JTAG cable.
Connect your CPLD's JTAG signals and voltage reference to the semi-industry-standard 14-pin 2mm connector (or the 6-pin connector compatible with Digilent's JTAG3). Read the programming cable's data sheet the to learn the connector pinout. For example: https://www.xilinx.com/support/documentation/data_sheets/ds300.pdf
Connect the programming cable between your computer and your CPLD, and use Xilinx's iMPACT software (included with ISE) to download your programming file to the CPLD.
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