Most HP laserjet printers are supported by the hplip package. If it is installed, you could try pointing your browser at http://localhost:631
and setting up the printer via the cups web interface.
You may need to use the "sudo lppasswd" program to create the printer admin account to use, if you don't have a root account. (I'm not familiar with Ubuntu) If hplip wasn't installed, try the same printer admin program first.