What kind of a printer is it, USB-connected or what?
Basically you just connect it, power it on, open the printer management dialog (found in some system/administrative/configuration/equivalent menu) and use a graphical wizard to do it. Another way, if you're using CUPS (Common Unix Printing System) which you probably are, is to use the CUPS web interface: open a web browser and the address
http://127.0.0.1:631/admin/ (or
http://localhost:631 should do also), and the rest should be self-explanatory.