You should be able to do this with Automator:
Click on "Finder" in the Library Window on the left side
From the "Action" window, drag "Get Specified Server" to the workflow area (open space on the right side)
Click the "+" that appears in the worflow and Select the server
From the "Action" window drag "Connect to Servers" below "Get Specified Servers" in the workflow view.
Save the Workflow.
Make sure the server is unmounted and then press the big play button in the top right to see if it works. If it does, go to "file>Save As..." and save it as an Application.
Now, to make it do this when you log in, click on the blue Apple in the top right of the finder window and go to system preferences.
Go to your user account, click on "Log in Items" and add your new application to the list (by clicking on the "+" and going to where you saved it).
Keep in mind if you do this and the drive is not able to be mounted (not turned on, not available,etc.) it will probably take a long time for you to be able to log in to your account.
A better idea might be to mount the disk like you usually do and then drag it's icon to the dock. If you have saved the password to your Keychain, it will mount it by clicking on it from the Dock