List the available wireless networks with nmcli device wifi list.
$ nmcli device wifi list
SSID MODE CHAN RATE SIGNAL BARS SECURITY
WPA1_eaxmple Infra 11 54 MB/s 98 ▂▄▆█ WPA1
WPA2_example Infra 6 54 MB/s 97 ▂▄▆█ WPA2
Connect to a network with nmcli device wifi connect <ssid> password <password>.
$ sudo nmcli device wifi connect "(your wifi network name/SSID)" password "(your wifi password)"
Device 'wlp3s0' successfully activated with 'b3f6d358-d8e9-438f-81ad-00b32dff3a24'.