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Go into another one of the boxes and click the button labeled "Cold Steel"
Give it time for them to get the order from Div. command
Once they get it go to the desired unit and right click on them (just as you would to have inf shoot a unit) and they should charge shortly
(to confirm it is activated see if you have two swords crossing when you hover over a unit as that tells you if they have the orders for a charge or not as it's the crosshair by default for the cav to shoot)
But other than thatt, you have to wait until your charge order arrives to actually give a charge command. You can tell when the double-saber icon shows on potential targets instead of a crosshairs.