Xterm tools for WiFi connection

hi everyone,

I was wondering how can i connect and/or configure wireless connections just from xterm, using command line tools.

At this point i’m using iceWM and in order to get connected i launch (from xterm) knetworkmanager - it starts running in the back ground and connects to WiFi point that have been configured from KDE environment.
But what if i had just clean iceWM without any KDE backing?

Please help me learn (or point me to right direction/tutorial if you can’t help me here)

thnx

man iwconfig