Step 0
Get all pods
kubectl get po --all-namespaces
Find the pod name in which your container is running
Step 1
Get the container name from running pod
kubectl describe po pod_name --namespace my_namespace
Example output
Name: pod_name
Namespace: my_namespace
Node: docker-host-03/10.1.3.115
Start Time: Wed, 23 Nov 2016 16:57:15 +1100
Labels: name=my_container_name,pod-template-hash=2802333548
Status: Running
IP: 10.20.71.4
Note the label with value name
Step 2
Login to container
Example
kubectl exec -it pod_name --namespace my_namespace -c my_container_name bash