Function Reference/get the tags « WordPress Codex
Class Reference/WP Query « WordPress Codex#Tag_Parameters
add some code like this to content-single.php of your child theme of Twenty Eleven:
$tags = array();
$posttags = get_the_tags();
if( $posttags ) :
foreach( $posttags as $tag ) { $tags[] = $tag->term_id; }
$related_query = new WP_Query( array('tag__in' => $tags));
if( $related_query->have_posts() ) :
while( $related_query->have_posts() ) :
$related_query->the_post();
/*whatever you want to output; for instance:*/
echo '<a href="'; the_permalink(); echo '">'; the_title(); echo '</a><br />';
endwhile;
endif;
endif;