- Create a policy at the site collection level: click on Site collection policies under Site Collection Administration of the site collection Site Settings.
- Within the same site collection, go to the list/library to be audited
- Go to Settings of the list/library, select Information management policy settings under Permissions and Management
- Select the policy from step 1
Also there are 3 good article on MSDN about auditing:
Don't forget to trim the audit log, this tool SharePoint Audit Log Tool from codeplex can help.