Creating 'select' listboxes using FormHelper in CakePHP

I have two models Category and Point. The associations are defined as:

Category hasMany Point
Point belongsTo Category

I would like, when adding Points to my database, to be able to select the category it belongs to from a
box, along with the rest of the form data.

Where would i need to set the category list and how could i do it? And how would i produce the select box?

I assume it could be done with

$form->input('categorieslist',array('type'=>'select')); //categorieslist needs
                                                        //setting somewhere.

But i am fairly new to Cake and not done much with associations before.