ARRIS WR2100 - Manual (Page 9)

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Step 9: Select the desired SSID that you want to connect to. Click Next.
If you can
’t find the SSID, make sure the Wireless Access Point SSID is
being advertised. (You can enter the SSID manually if necessary.)
Step 10: The Security Settings screen will be prompted automatically if
the security is on. Enter the required encryption keys. Click Save.
Screen content may be different based on access point settings.
(The PSK should match the configured PSK in your wireless router.)