Set up secure wifi connection, command line, Raspberry Pi

Open network configurations:

nano /etc/network/interfaces

Set ssid and password:

auto lo
 
iface lo inet loopback
iface eth0 inet dhcp
 
allow-hotplug wlan0
auto wlan0
 
iface wlan0 inet dhcp
        wpa-ssid "ssid"
        wpa-psk "password"

You can also prepare interfaces file from windows on copy to boot partition.

Then on the pi side overwrite the configuration:

sudo cp /boot/interfaces /etc/network/interfaces