How to connect my iPad to my printer?

You’ll need an AirPrint-capable printer - and connect this via WiFi to your home network.

Additional information can be found here:

Use AirPrint to print from your iPhone, iPad or iPod touch – Apple Support

As long as your AirPrint capable printer and iPad are connected to the same WiFi network, there is nothing more to do. The iPad will simple see that AirPrint printer and bonjour will handle printing to it without any further user input or settings.

AirPrint is a driverless printing protocol. No drivers, not user settings.