(I had to look this up too.) You need to assign a spare settler to go and set up the supply line between two settlements before it works. While in the settlement management mode if you walk up to a character like you're going to assign them to a function you should see a few options down at the bottom (sorry, can't remember specifically which button it is.) But then you can send that guy to your other settlement and it'll set up a supply line between the two.
For me personally I am only concentrating on 3 settlements for now. I will setup the others, but not really worried about them.
Abernathy farms
Sanctuary
Red Rocket. those are all in the same general area and are easier to maintain.