Sorry, I missed the "L" in "VL 6.0L" the first time around, or would've responded already.
You're correct, wicd does need daemon for this. The point-and-click way is:
"Start" > System > VASM > Super > SERVICE > SRVSET select a run level (usually 4, sometimes 2, can be both) and check wicd. If you only want wicd in gui, you don't need it in 2; if you want it in 2, you still have to select it for 4 also if you want it there. Vector stops services not requested in the next runlevel in a way different from many distros.
That got you the daemon (well, it will if you reboot or re-enter level 4). Now the client. I've upgraded wicd from the testing repository; the new name for client is "wicd-gtk". Sorry, but I can't recall the old name - it may be "vwicd-client". Find out for sure by doing: locate wicd | grep bin to see if it's there. If you haven't upgraded, substitute the correct name for "wicd-gtk" in the line below and put it near the bottom of ~/.icewm/startup. Include the "&" so startup won't stop there.
#above line may be optional - use it if you have trouble without it
If you restart, the daemon will start when X does, the client will start with your session. The first time, check the "connect automatically" box and connect to the desired AP. From then on, the connection should be fully automatic. If this doesn't work, please post back.
When the wicd upgrade moves to regular repo, or if you decide to get it from testing, the name change causes a harmless duplication in menus. The fix is here: http://forum.vectorlinux.com/index.php?topic=11186.0
Light's a little more work than the others, but not much more. If you chose light in the first place, you'll be happy with the return on your effort.