a short but sufficient instruction can be found at:
http://seer.support.veritas.com/docs/265585.htm
it is based on SAP R/3 agent until BE version 9.1 but in terms of installation there is NO difference to version 10
besides, a more detailed info about the SAP R/3 agent can be found within the BE admin manual:
http://seer.support.veritas.com/docs/269777.htm
Be aware, that if you would patch your BE installation (HF or SP) to always READ the readme about this fix, as if it is also related to the remote agents, there are special instructions on how to patch the SAP /3 agent.
Regards
uz