Router on a stick uses a single physical router interface with multiple subinterfaces to route between VLANs.
Configuration steps:
Configure the switch port as a trunk
Create subinterfaces on the router for each VLAN
Assign IP addresses to each subinterface
Router(config)# interface GigabitEthernet0/0.10
Router(config-subif)# encapsulation dot1Q 10
Router(config-subif)# ip address 192.168.10.1 255.255.255.0
The "dot1Q" command specifies the VLAN tag. Each subinterface handles traffic for its VLAN.