After countless attempts I finally got my S4 to connect to my dir 655 all thanks to the collective knowledge of everyone's posts. Forums do really help!
Here's my setup:
Hardware Version: A3
FW: 1.37na
mixed 802.11n and 802.11g
Auto Channel Scan: Enabled
Transmission Rate: Best ( Automatic )
Channel Width: Auto 20/40 Mhz
Security Mode: WPA-Personal
WPA Mode: WPA2 only
Cipher Type: TKIP
This setup alone did not solve my problem, I kept rebooting the router and even my phone to no success but by looking at the zdnet article that FurryNutz posted I read that it was recommended by D-Link to disable the WMM (Wifi Multimedia). To do this, go to: Advanced tab => Advanced Wireless => uncheck the WMM Enable box. After saving this, my phone FINALLY obtained an ip address and connected!
Hope this saves any other new S4 owners some of the headache I had to endure in figuring this out. Take care everybody!