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Your Nexus may not be recognizing the correct security level, so check your router to see if it supports WPS, if so tell your Nexus to forget the WiFi connection, press the WPS button on the Router and then connect the Nexus and enter the WPS pin supplied with your router.
I had the same problem with a Comcast router. I unplugged it /reset it and connected fine.
WiFi Protected Setup, if there is no wps button, you may have to initiate it from within the router configuration, accessed with a browser on a computer. List your router model, maybe we can find more info. I believe my 2wire does it that way.(uverse fiber
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