How can I access my company mail id in Yahoo or gmail?

That means when I login into Yahoo or gmail I have to check in Yahoo or gmail?
How it is possible?

Depends on if the company supports mail forwarding, you could forward all your mail to the Yahoo or gmail account, that way you have a central repository of emails. But, when you reply be aware that it will go from your yahoo/gmail account. It isn't very professional, besides depending on the company they may have something to say about you forwarding the company emails to an insecure/outside provider.

You can also use the Microsoft exchange server if your company is using outlook, you can type [mail.yourcompanyemail.com], try if this will work.

You need to check with your local IT dept as this maybe seriously against security policy!!