you need to download an app for printing from the App Store. Just search for printing for ipad and a load come up. NDilli technologies let you download a demo for free to check that it works with your printer and then you can buy their app for £2.99
does the printer support printing from ios devices called airprint ?
Look at this list
if your printer is on there, then it's air print enabled and you can print natively from the iPad.
If your printer isn't on the list, then you have 2 other options. See if your printer manufacturer has any options for you. Maybe they have an app, maybe they allow access to an online service to print.
If they don't have any options for you, look for third party apps. I use Print n Share, but others also recommend printopoia or print central.