Go to the Mandriva Control Center (Star-> System-> Configuration-> Configure Your Computer). Click on Hardware-> Printers. Choose the auto-detect printers, and if your printer is on and connected to another comptuer is should be detected and configured.
If not manually configure the computer.
Last option - Check that CUPS is installed as software. If it is go to a web browser and type:
http://localhost:631
You should be able to manually configure the printer.