Assuming you are using the Case standard controller you should simply be able to use an apex:relatedList
tag on your Visualforce page.
<apex:page standardController="Case">
<apex:relatedList list="CaseArticles"/>
</apex:page>
If you're not using the standard controller then you'll have to define the subject attribute for this to work.
Controller:
public class MyController
{
private final Case aCase;
public MyController() {
aCase = [SELECT Id FROM Case
WHERE Id = :ApexPages.currentPage().getParameters().get('id')];
}
public Case getCase()
{
return aCase;
}
}
Visualforce Page:
<apex:page controller="MyController">
<apex:relatedList subject="{!Case}" list="CaseArticles"/>
</apex:page>
See here for more information on the apex:relatedList
tag:
http://www.salesforce.com/us/developer/docs/pages/Content/pages_compref_relatedList.htm