connect to an Access Point from command line

I am setting up a laptop with Debian with no-gui just for lab purposes that's why I need to connect it to the AP I have, from command line you may accomplish this task through these ones:

1.  sudo iwlist scan  //you will AP available, event the hidden ones

2. sudo iwconfig essid "AP name" // in my case:
   sudo iwconfig wlan0 essid "atenas"

3. sudo iwconfig wlan0 key s: 

4. get a IP from the dhcp:
  sudo dhclient wlan0

those steps worked for me, I read in several sites whether the AP has WPA2 passphare you should use the wpa_supplicant method, it may be true, but in my case it was not necessary, just check it in case some of the above steps do not work

Best