i
wconfig, i
fconfig and dhcpcd are your freinds
you can set you essid and encryptions keys like so with iwconfig (as root)
# iwconfig ath0 essid mywireless
# iwconfig ath0 key 123456789ABCDEFG1234
then if you have dhcp get yourself an ip address by using dhcpcd like so
# dhcpcd ath0
if you don't have dhcp you can manually give yourself an address
# ifconfig ath0 inet 192.1681.10.123 netmask 255.255.255.0 up