The first thing to is to go here --> http://www.linux-foundation.org/en/OpenPrinting
and look to see if there is a driver for your printer. Once you know what driver, there are instructions on that site for loading most drivers.
If you need more guidance here, please state what distro you are using, release, etc, and please tell us the make and model of the printer you are trying to configure.
Note, you will need to install cups if it is not already installed. If you need help with that, once again, distro and version...