You need an transceiver. It receives IR commands and converts them to X10 house wiring signals. As far as I've heard there is only one model out there. It's know as an IR543 commonly but also goes by the model number 4040 at
www.smarthome.com.
One you have the transceiver you'll need to download (from here) a pronto CCF with X10 IR codes in it. Click on FILES above and you'll find it. With that ccf in your pronto (it can be merged with your existing CCF) you can control your X10 modules with infrared via the IR543.
Dave