7zip

Install p7zip and/or p7zip-full packages.

To compress to a 7-zip file:

7zr a file.7z myfiles/

To decompress a 7-zip file (preserving directory structure):

7zr x file.7z

To compress and encrypt (with password XXXXXXXX) to a 7-zip file:

7zr a -mhe=on -pXXXXXXXX file.7z myfiles/

To decrypt, decompress as usual. You will be prompted for the password.