Wifi config

To find available wifi networks: sudo iwlist wlan0 scan

Single network config

To configure ONE network (from here):
sudo su
wpa_passphrase [YOUR_SSID] [YOUR_PASSWORD] >> /etc/wpa_supplicant/wpa_supplicant.conf

Then, edit that file and remove the cleartext psk. Then do:
wpa_cli reconfigure

Multiple network config

GLENN NOTES...NOT tested YET!!! In wpa_supplicant.conf, add an ID string to each network...like this:

network = {  
  ssid="your_network"  
  psk=encoded_data  
  id_str="home"  
}  

You can create these files with the encoded data just like in "single network setup" above...and paste the data in. Do the reconfigure, and voila!