how do I access the categories assigned to a channel entry?

I have one category group & set of categories and I assign all of my channel entries to one or more of the categories.

I use the same categories to assign my blog posts. How do I access the categories assigned to my channel entry so that I can dynamically generate a list of blog posts that are assigned to the same categories?

This doesn’t seem out of the ordinary, but am having a tough time figuring it out.

Russ