How do I ask for a raise?

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I'm trying to work my way up through my company. Time and time again, I find myself thinking that I should earn more for my position, but I don't know how to bring up the idea of a pay raise to my manager.

How do broach the topic of a raise to my manager? I really think I'm deserving of the raise, but I don't know how to bring it up, and it's a really nerve-wracking conversation for me.