How do I set up a printer using iPad2 as there seems to be no reference to it in the User Guide?

If you are using one of the printers on this list, you will be able to print using the AirPrint feature in the iOS.

http://www.apple.com/ipad/features/airprint.html

If not, you will need to use a third party app installed on your iPad in order to print. PrintnShare, PrintCentral and other printing apps are available in the app store. Your own printer manufacturer may have their own printing app as well.

When you install the apps, you will be instructed how to print using those apps. Check them out - use Goggle - App Store, etc.

If you've got an Airprint supported printer then you should be able to print without needing to do anything else : http://support.apple.com/kb/HT4356 . For other printers you may find the replies in this thread helpful https://discussions.apple.com/thread/3107515

The link provided now redirects to advertisement...

The thread is over 5 years old, Apple has moved/renamed links in the intervening period. Try : About AirPrint - Apple Support