On VL5.9 Gold, in the Xfce menu:
It's the second from the last entry in the Network category. Can also be launch as root with wifi-radar. I'm not certain, but I think I had to reinstall it to work properly on my laptop. I could be wrong on this.
I've found that VLwifi works well for me. It actually does the setting up of the wireless device and hasn't failed me yet. wifi-radar just seems to scan for networks in range and allows you to set up a connection with them.
Good Luck with it