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: