How do I install a printer in iPad
How do I add my wi-fi printer to my iPad
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If your printer has Airprint capabilities (check your model among this list:--> About AirPrint - Apple Support ), you only need to connect that printer to the same wifi network where you iPad is connected to.
It will appear when you need to print a document or a photo.
See also this support article:--> Use AirPrint to print from your iPhone, iPad, or iPod touch - Apple Support
Regards
Giulio