Assuming you're connected to a wireless network, HPLIP comes prepackaged (installed on the Live CD) in Ubuntu 9.04 and up.
To configure your printer, go to System -> Administration -> Printing. Click "Add". Expand the "Network Printer" subsection in the left pane, and your HP printer should be there. Click it. Then, after the printer is configured, you type a name for it, and you're all set!
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