You can buy a DVB-T (digital terrestrial) card in almost any shop that sells electronics. Within Munich, a small antenna is usually sufficient (but not always, depends on your location). However, all channels are in German with the exception of Arte, which is also broadcast in French. More info here:
http://www.dvb-t-bayern.de/programme.htmlFor English language channels you need satellite or cable, or simply watch them over the net.