Two ways. The easier way is through the Network Preferences pane of System Preferences. You select whichever adapter you're using (iBooks and PowerBooks, for example often have both built in ethernet and AirPort), and click the TCP/IP tab. On that tab you'll see a button to "renew IP lease."
Terminal offers a command that does the same thing as ipconfig. It's called "ifconfig." Be sure to check the man page for the command if you choose this route, because some of the options are similar to those for ipconfig, while others are VERY different.