The first step is obedience. This is necessary especially for the dog, which is usually the aggressor in this kind of situation. You have to train your dog to obey when you say "no".
Allow your cat to wander around the house. Cats love to roam and this will make her scent scattered in your home. After doing this, lock your cat in one room and let your dog wander around the house sniffing for the cat's scent. This will make your dog get acquainted to your cats smell and train the dog that the cat is part of the household.
Dogs usually start barking whenever they see some other animals in their territory, hoping to scare them away. They won't really lunge at something immediately. Once he starts barking, this is where the obedience part starts to come in. Say "no" and make him realize that the cat is also a pet.
If your dog starts to calm down when in the presence of the cat, then it's the time to let him sniff the cat. Once your dog starts to decide not to bark at your cat you know that you've done the introduction part successfully.
The final step is making sure that both pets have the time to coexist. This part is usually the cat's fault. Cats have the tendency to be aloof and stay away from the dog and other people. It's not because they are afraid of the dog but more because it's their nature to be alone.