Wait, I just realized how confusing my post sounded. I assumed you're talking about CS5.5 which is actually AE version 10.5. I was referring to 5.5 which was long before AE was called CS-anything.
Anyway, whether you are talking about version 5.5 or version 10.5, the process remains the same.
Two ways to bring up the controls.
2. Workspace>Motion Tracking.
Then you open the footage in a footage window or pick the layer you wish to track from the tracker controls. You can only track Pre-comps or video layers.
The tracker lives here with the default Workspace>Motion Tracking layout.