For example:
<rich:gmap var="mapVar" ... />
and then (in a javascript block, below the definition of <rich:gmap>)
window.onload = function() {
    mapVar.addOverlay(
        new GMarker(new GLatLng(#{yourBean.lat}, #{yourBean.lng})));
}
You should take a look at the Google maps API for all possible ways of loading your map.
                  Bozho
                   2010-03-20 15:55:32