This tutorial is taken from the official notes here. http://s3tools.org/repositories

/etc/yum.repos.d
wget http://s3tools.org/repo/RHEL_6/s3tools.repo
yum install s3cmd 

Now lets setup s3cmd.

s3cmd --configure

Enter new values or accept defaults in brackets with Enter.
Refer to user manual for detailed description of all options.

Access key and Secret key are your identifiers for Amazon S3
Access Key: xxxxxxxxxxxxxxxxxxxxxx
Secret Key: xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx

Encryption password is used to protect your files from reading
by unauthorized persons while in transfer to S3
Encryption password: xxxxxxxxxx
Path to GPG program [/usr/bin/gpg]:

When using secure HTTPS protocol all communication with Amazon S3
servers is protected from 3rd party eavesdropping. This method is
slower than plain HTTP and can't be used if you're behind a proxy
Use HTTPS protocol [No]: Yes

New settings:
  Access Key: xxxxxxxxxxxxxxxxxxxxxx
  Secret Key: xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
  Encryption password: xxxxxxxxxx
  Path to GPG program: /usr/bin/gpg
  Use HTTPS protocol: True
  HTTP Proxy server name:
  HTTP Proxy server port: 0

Test access with supplied credentials? [Y/n] Y
Please wait, attempting to list all buckets...
Success. Your access key and secret key worked fine :-)

Now verifying that encryption works...
Success. Encryption and decryption worked fine :-)

Save settings? [y/N] y
Configuration saved to '/root/.s3cfg'