If your system is modern enough to support System D and D-Bus, the standard way to handle automount is via
udisks2 package. The link above targets a Debian package, but udisks2 is provided in other distributions as well.
Most desktop environments provide mount/eject features in their file managers by pulling this package as a dependency:
The Gnome Virtual File System provides mounting and trash functionality. GVFS uses udisks2 for mounting functionality and is the recommended solution for most file managers.
Of course, a desktop environment is not a requirement for
udisks2 (it uses
udev behind the scenes), so it can also be used on headless installations.