Control Panel > Printers and Other Hardware > Printers and Faxes > (has the printers that are already on, if any)
Go to Add a Printer > Next > Printer A network Printer or a Printer connected to another computer > Browse (if you cant find this printer, go to your computer its hooked up to, do the following)
Control Panel > Printers and Other Hardware > Printers and Faxes > Printer connected via USB, Right click on it and click on sharing, then yes or whatever, I think you can figure it out!
PM me if you run into trouble