Chipmunk (or just about any other physics engine) doesn't do
any drawing of
anything. The point of it (and the only thing it does) is to calculate the positions of bodies mathematically, taking into account forces, joints, etc (aka Physics).
If you are saying you aren't using Cocos2D, then I'm going to assume you are using UIKit.
Here is an excellent tutorial, using UIKit:
An introduction to game physics with Chipmunk