You're asking two different things.
To configure the wireless card to use the correct SSID, mode, encryption, etc., edit /etc/pcmcia/wireless.opts with your parameters if using a PCMCIA card or /etc/rc.d/rc.wireless.conf for PCI, USB, and 32-bit Cardbus wireless devices.
To enter these settings manually for testing, use iwconfig
To pull an IP address from a DHCP server, edit /etc/rc.d/rc.inet1.conf
To do this manually, dhcpcd eth0 (or your interface - wlan0, ath0, etc.)
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