If you understand the layout of the Maven repository, you can copy the jar directly into where it is meant to go. Maven will find this file next time it is run.
If you are not confident about the layout of the Maven repository, then you can adapt the following command to load in your jar file, all on one line.
mvn install:install-file
-Dfile=<path-to-file>
-DgroupId=<group-id>
-DartifactId=<artifact-id>
-Dversion=<version>
-Dpackaging=<packaging>
-DgeneratePom=true
Where: <path-to-file> the path to the file to load
<group-id> the group that the file should be registered under
<artifact-id> the artifact name for the file
<version> the version of the file
<packaging> the packaging of the file e.g. jar
Example
If you have a jar file example.jar, then following command
mvn install:install-file
-Dfile=path/to/example.jar
-DgroupId=com.hogwart
-DartifactId=sample
-Dversion=1.0.0
-Dpackaging=jar
-DgeneratePom=true
~/.m2/repository/com/hogwart/sample/1.0.0/sample-1.0.0.jar
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