Connect Wireless through Terminal (Geeks way)

First scan for available networks by:
sudo iwlist wlan0 scan

Example Results

root@othserver:~# iwlist wlan0 scan
wlan0     Scan completed :
          Cell 01 - Address: 00:25:5E:69:4B:6E
                    Channel:6
                    Frequency:2.437 GHz (Channel 6)
                    Quality=70/70  Signal level=-35 dBm
                    Encryption key:on
                    ESSID:"Nethinim"
                    Bit Rates:1 Mb/s; 2 Mb/s; 5.5 Mb/s; 11 Mb/s; 18 Mb/s
                              24 Mb/s; 36 Mb/s; 54 Mb/s
                    Bit Rates:6 Mb/s; 9 Mb/s; 12 Mb/s; 48 Mb/s
                    Mode:Master
                    Extra:tsf=000000193b619187
                    Extra: Last beacon: 524ms ago
                    IE: Unknown: 00084E657468696E696D
                    IE: Unknown: 010882848B962430486C
                    IE: Unknown: 030106
                    IE: Unknown: 2A0104
                    IE: Unknown: 2F0104
                    IE: Unknown: 32040C121860
                    IE: Unknown: DD090010180205F0000000

Remember the network (aka as essid)
sudo iwconfig wlan0 essid "Nethinim" key s:"mypasswordwifi"

Then give it an ip through dhcp
sudo dhclient wlan0

Done!