The simplest way of connecting without using inet1.conf or a daemon such as wicd is to use wpa_supplicant.
Run this once:
Code:
wpa_passphrase ESSID password > /etc/wpa_supplicant.conf
Change ESSID for your access point name, and obviously replace the password.
Then simply run this every time you want to connect:
Code:
wpa_supplicant -B -i wlan0 -D wext -c /etc/wpa_supplicant
dhclient wlan0
Should work on most devices unless you have some really funky driver.