You'll have to do this in two steps:
If you don't have an internal repository, and you're just trying to add your JAR to your local repository, you can install it as follows, using any arbitrary groupId/artifactIds:
mvn install:install-file -DgroupId=com.stackoverflow... -DartifactId=yourartifactid... -Dversion=1.0 -Dpackaging=jar -Dfile=/path/to/jarfile
You can also deploy it to your internal repository if you have one, and want to make this available to other developers in your organization. I just use my repository's web based interface to add artifacts, but you should be able to accomplish the same thing using mvn deploy:deploy-file ...
.
Then update the dependency in the pom.xml of the projects that use the JAR by adding the following to the element:
<dependencies>
...
<dependency>
<groupId>com.stackoverflow...</groupId>
<artifactId>artifactId...</artifactId>
<version>1.0</version>
</dependency>
...
</dependencies>