Locate and double click the Add a Printer icon on your desktop:
It should open a window similar to this:
Locate the name of the printer you wish to install in this window. The printer name can be found on a sticker on the front or side of the printer.
When you have found the printer you want to add, double click it. A loading window will appear:
The printer may take a minute or two to install. When it finishes, the print queue window for that printer will appear:
If you would like to set the printer as your default, click Printer -> Set As Default Printer: