Assuming that your OSRM Service is running on the default port: 5000.
Format:
http://ip:5000/route/v1/car/lng1,lat1;lng2,lat2?steps=true&geometries=polyline&overview=full
Note: lng1 and lat1 = Point A's Lat and Lng, while lng2 and lat2 = Point B's Lat and Lng.
Browser:
http://ip:5000/route/v1/car/103.84201,1.319787;103.80147,1.27342?steps=true&geometries=polyline&overview=full
or
Terminal using curl:
curl "http://ip:5000/route/v1/car/103.84201,1.319787;103.80147,1.27342?steps=true&geometries=polyline&overview=full"