Never mind - I worked it out. Drag the king over to the appropriate rook and then let go. Same on the analysis board.
Chess 960 Castling
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How do you tell this site that you want to castle on chess 960 if moving the king to that square is a legal move anyway? Is there some kind of menu with "Castle Kingside" and "Castle Queenside" on it? And what about on the analysis board?