Make sure you have node.js, bower and grunt installed then run the command below, it'll install all of the needed dependencies for grunt along with all of the uncompressed library files.
If you don't have bower or grunt installed use npm install -g bower and/or npm install -g grunt-cli to install them.
npm install -g bower
npm install -g grunt-cli
npm install && bower install && grunt
Now that you have everything installed and up to date you'll want to install the new library, to do this we install it via bower and then run grunt to minify it with all of the other libraries.
bower install <package> --save && grunt