Hi
I'm not quite sure i get what you are trying to accomplish, but if you want to make a trunk port similar to the Cisco you pasted, this should be quite easy to do.
If you are trying to connect the Aruba switch to the Cisco, be aware that Cisco uses a different version of spanning-tree (pvst/pvst+) default and Aruba (hp) is using MST.
Not matching the spanning-tree will cause recalculations and stopping of traffic intermittenly.
If you need to connect the two, yes, you just add the VLAN's to the Aruba and tag them on the port you connect to Cisco
vlan 5
tagged 24
exit
vlan 10
tagged 24
exit
vlan 20
tagged 24
exit
After this you can untag a port for use with an endpoint.
Aruba has focus on the vlan, meaning you add ports to the vlan.
On the Cisco side you enter the interface and a VLAN of some sort.
Hope this helps
Roar