By default Android will not connect to an access point unless it is in your list of "Remembered" networks. A network is remembered automatically the first time you connect to it. The solution is to open Settings -> Wi-Fi then select each Wi-Fi access point and click "Forget". This will remove it from the list of "Remebered" networks. From this point forward, Android will notify you that networks are available, but will not connect without solicitation.
If you're asking for security reasons, there is no security mechanism for white listing Wi-Fi networks. Android has no parental controls, if that's what you're after.