It should just install what it needs without you even knowing it is doing it. The installed for Mandrake 9.1 that I used was very very good. I'm sure it is better now that it was then. Mandrake is good for someone just starting with Linux. It installs easy. The only downside is the updating and installing new stuff after the install. That is where the dependancy problems come in.
In one of the last screens you should have a thing to set up all the hardware. One of those will be the printer. Mine just saw the printer and set it up automatically. I did change the settings but that was about it. I wanted a higher resolution is all.
I'm assuming you have a newer Mandrake but I suspect that it is really close. I hope I'm not steering you wrong here. I have never seen anything past 9.2. I did not like 9.2 at all. That was when I switched.
Later