Mounting LUKS from the command line

When in nautilus or caja I click on the icon of an encrypted disk and enter my password, the underlying block device gets mapped to /dev/mapper/luks-$UUID and it gets mounted at/media/$USER/$DISK, no root password required. Is there a way to invoke this process from the command line, without GUI, including obviating sudo and having the mountpoint able to get unmounted again from GUI.