Using a wifi adapter

If anyone is interested in scripting this, you can do the following:

wifi.conf

ctrl_interface=/var/run/wpa_supplicant
network={
    ssid="your-network"
    scan_ssid=1
    key_mgmt=WPA-PSK
    psk="your-network-password"
}

wifi.sh

#!/bin/sh
ip link set wlan0 up
wpa_supplicant -D nl80211 -i wlan0 -c wifi.conf &
dhcpcd wlan0

Then, just run ./wifi.sh, or make it run automatically on boot if you wish.