Technically, it could be as simple as listing your network interfaces:
..and then look through the list to see what your wireless card is called; let's say it's wlan0:
and then connect:
Code:
iwconfig wlan0 essid "myEssidName"
dhclient wlan0
This assumes that you have no encryption on the wireless network you are attaching to; that is usually best when troubleshooting.
However, you might need a driver, or possibly firmware for the network card.
What network card does the computer have? To find out, run this command as root:
Somewhere in there, you should see a network device; use that result to find out what driver to use:
http://wireless.kernel.org/en/users/Devices
Then it's just a matter of downloading that driver and/or firmware, installing, and using (as above).
I don't know what you intend to use Kali for, but I'm thinking you probably want to AVOID auto-detection (Network Manager) since when you are pentesting, it's better to maintain control of your network interfaces, rather than passing them off to wicd or nm. It's just a lot more flexible that way.