@Milo already pointed this out, just enqueue your script with jQuery listed as a dependency. When WordPress loads your script, it will see the dependency and load jQuery for you automatically. For example:
function enqueue_my_scripts(){
if( ! is_admin() )
wp_enqueue_script( 'stacked-script', get_bloginfo('stylesheet_directory') . '/scripts/stacked.js', array('jquery'), '1.0.1' );
}
add_action( 'wp_enqueue_scripts', 'enqueue_my_scripts' );
Will put the following in the header of your site:
<script type='text/javascript' src='http://site-url.com/wp-includes/js/jquery/jquery.js?ver=1.6.1'></script>
<script type='text/javascript' src='http://site-url.com/wp-content/themes/stacked-theme/scripts/stacked.js?ver=1.0.1'></script>
jQuery will be loaded first, followed by your script.