function script_that_requires_jquery() {
    wp_register_script( 'script-with-dependency', 'http://www.example.com/script-with-dependency.js', array( 'jquery' ), '1.0.0', true );
    wp_enqueue_script( 'script-with-dependency' );
}
add_action( 'wp_enqueue_scripts', 'script_that_requires_jquery' );