Easiest way is to use the Network Manager nmtui tool

nmtui

It gives you a “command line GUI” to search and select your preferred WiFi network.

Alternate way is to use the iw tools.

Scan for available WiFi networks

iwlist scan

Connect with iwconfig, replace WiFiName with your WiFi name.  Note this only works with open networks.

iwconfig wlan0 essid WiFiName

You’ll need to get an address now, so run

dhclient

Check if your DNS is working.  If not, as a “hack” manually add it to /etc/resolv.conf and restart the networking service.

sudo echo "nameserver 8.8.8.8" >> /etc/resolv.conf
sudo service networking restart

Your not supposed to manually put the nameservers in resolv.conf.  But it works in a pinch.