We will be publishing a voting tutorial soon, but if you want to do it through the command line without using any third party tools, here are the commands to use. You can connect to the network using a public endpoint such as http://mainnet.eoscalgary.io

first start local wallet:

/home/username/eos/build/programs/keosd/keosd --data-dir /home/username/path/to/wallet --http-server-address 127.0.0.1:9999

Now you can use cleos to perform network transactions. Setup your wallet with private key:

/home/username/eos/build/programs/cleos/cleos -u http://mainnet.eoscalgary.io --wallet-url http://127.0.0.1:9999 wallet create
/home/username/eos/build/programs/cleos/cleos -u http://mainnet.eoscalgary.io --wallet-url http://127.0.0.1:9999 wallet import yourprivatekey

View account details:

/home/username/eos/build/programs/cleos/cleos -u http://mainnet.eoscalgary.io --wallet-url http://127.0.0.1:9999 get account youraccountname

To vote:

/home/username/eos/build/programs/cleos/cleos -u http://mainnet.eoscalgary.io --wallet-url http://127.0.0.1:9999 system voteproducer prods youraccountname producer1 producer2 producer3 -p youraccountname

For example, if my account name is cryptomancer and I want to vote for buildteameos and privexinceos, I could do this:

/home/username/eos/build/programs/cleos/cleos -u http://mainnet.eoscalgary.io --wallet-url http://127.0.0.1:9999 system voteproducer prods cryptomancer buildteameos privexinceos -p cryptomancer

But there are much easier ways to vote than from command line! There is an excellent voting tool made available by @greymass which we recommend: https://steemit.com/eos/@greymass/announcing-eos-voter-an-eos-block-producer-voting-tool-and-light-wallet