Create a view of nodes by taxonomy id
If you want to filter by taxonomy term in your view you can do this by adding a contextual filter (arguments in D6).

If you can pass the term id then you can do the following:

When adding a contextual filter choose "Content:Has taxonomy term ID".
Under "MORE" there is an option "Allow multiple values".

You can play around with these options as I never get it right on the first go.