If you have setuptools or pip, you can install NumPy, SciPy, matplotlib, and IPython with the following commands. For each library, we give two commands, one for setuptools and one for pip. You only need to choose one command per pair:

$ easy_install numpy
$ pip install numpy

$ easy_install scipy
$ pip install scipy

$ easy_install matplotlib
$ pip install matplotlib

$ easy_install ipython
$ pip install ipython

It may be necessary to prepend sudo to these commands if your current user doesn't have sufficient rights on your system.