In slackware you just make sure that it's startup script /etc/rc.d/rc.wicd is exectubale and when you startx or go into runlevel 4 you have the wicd icon in the taskbar that you just "click and connect to..."
With Ubuntu I would imagine it's still a matter of making sure the service is started then "click and connect to...." If you are using Ubuntu though, it comes with NetworkManager which is a very nice connection manager (I actually prefer it to wicd) so I'm not sure what OS you are actually using.
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