You still have to have RS do it. They don't delgate control of their reverse zones to customers, so they are the only people who can change it.
If you were running your own name server off of RS and you were delegated authority for a block of IPs, you would add a PTR record for your host to the in-addr.arpa zone on your server. It would look something like this in a BIND zone file:
216.127.75.xxx IN PTR server.foo.com.
where server.foo.com is what you want your IP to resolve to.
When someone does a reverse-lookup of your IP, it looks in the in-addr.arpa zone. For instance, if your IP is 216.127.75.xxx, to find the hostname you would look up xxx.75.127.216.in-addr.arpa. The IP is listed backwards so that authority for the zone can be delegated from the top down. A quick seach of google found
this site which looks like it might have a decent overview of how it all works.
Anyway, I'm assuming you are a RS customer, in which case they will have to do this for you.