How do I pay taxes when employed as a contractor?

I just got employed by a company today where I will be going door to door passing out flyers advertising their alarm systems. I am employed as an independent contractor by the company and am responsible for paying my own taxes (social security, medicare, etc). How do I do this? I plan on putting aside one paycheck a week (I will be paid weekly) to pay for the taxes, but I have no idea if I pay taxes monthly, quarterly, or yearly. I'm used to my full time employer taking care of all of that for me. Can any self-employed people out there tell me how they do their taxes? I live in Texas if that helps.