$ sudo apt-get update
$ sudo apt-get install dhcpcd5 

dhcpcd5 is installed in your system.

Make ensure the dhcpcd5 package were installed using the commands given below,

$ sudo dpkg-query -l | grep dhcpcd5 *

You will get with dhcpcd5 package name, version, architecture and description in a table

dhcpcd5 package basic information: