Remove the back of the machine and place the belt over the motor pulley, then turn the big pulley wheel by hand as you guide the belt onto it.
But! There is probably another problem that caused the belt to come off in the first place. Check the big pulley wheel for cracks or damage, check that the main bearing on the washing barrel isn't loose etc. Also check the condition of the belt...of course...
I'm no expert, but these are some of the issues I've encountered trying to keep my Asko machine going a bit longer...Good luck!
Simon J., May 2009