Before version 5.5.28 of Percona XtraDB Cluster, the easiest way was to join the cluster using wsrep_urls in [mysqld_safe] section of my.cnf. So with a cluster of 3 nodes like this : node1 = 192.168.1.1 node2 = 192.168.1.2 node3 = 192.168.1.3 we defined the setting like this :

With that line above in my.cnf [...]