You can use `mimeopen` with `-d` option:
`man mimeopen` :
DESCRIPTION
This script tries to determine the mimetype of a file and open it with
the default desktop application. If no default application is
configured the user is prompted with an "open with" menu in the
terminal.
-d, --ask-default
Let the user choose a new default program for given files.
Example:
mimeopen -d file.mp4
sample output:
Please choose a default application for files of type video/mp4
1) VLC media player (vlc)
2) Other...
Verify it:
xdg-open file.mp4