Then, you would have them become Subscribers and decide if you want to approve new registrants or let anyone register. Subscribers can only read posts/pages.
To have people register without your approval, set these options:
Settings > General
Membership > Anyone can register
New User Default Role > Subscriber
(For reference, here are the WordPress Codex : Roles and Capabilities)
Settings > Discussion
Default article settings
> Allow people to post comments on new articles
(just what it says)
Other comment settings
> Users must be registered and logged in to comment
(just what it says)
Email me whenever (these are optional)
> Anyone posts a comment
> A comment is held for moderation
Before a comment appears (these are optional if you want to approve comments before they show)
> Comment must be manually approved
> Comment author must have a previously approved comment (optional if you have approved a previous comment of a person)
If you want to approve people before they can be Subscribers on your site, then you need a Registration plugin such as: New User Approve or User Registration Aide