Once you file your Form 1040 without full payment, you will receive a notice of balance due from the IRS. They will also include information about setting up a payment plan. I have provided a link to the IRS web page that summarizes the situation and provides links to futher information.
I have also provided a link to Form 9465 and instructions. According to the instructions, taxpayers may be able to extend payments for periods up to 60 months.