1.sudo iwlist wlan0 scan (this lets you see all the available wifi networks in your area)
2. Get the ssid and password from your router
3. sudo nano /etc/wpa_supplicant/wpa_supplicant.conf (this is where you add the wifi network)
4. Go to the bottom of the file and add the following:
5.Sub in your password and router name above
6.sudo wpa_cli reconfigure(this will restart the wpa-supplicant)
7.restart the rpi zero w, if you are talking over usb pull out the one not being used for the power.
*. You can find the ip address of the rpi by going to your default gateway it will ask you for a password and a username which should be on the back of your router with this you should be able to find the ip address.