How about some information, like, what KIND of printer is it? Is it Airprint-capable? If it has Airprint, and has the latest firmware available for it, once it's on the same wireless network, there's nothing you have to do from the iPad. Just click the Share button from any printable app (eg Safari), click Print, and choose the printer.
iOS AirPrint Printers http://support.apple.com/kb/HT4356
How to Print from Your iPad: Summary of Printer and Printing Options
Print from iPad / iPhone without AirPrint
How to Enable AirPrint on a Mac and Use Any Printer