How do I install a printer?

Make sure the printer is on the same wireless network as your Mac or use a USB cable to connect them.

 > System Preferences > Printers and Scanners > Under the “Printers” box click on “+”.

> Select the printer > Add.

And in Mavericks at least, you can install a printer from the Print dialog box itself. Click the Printer menu at the top of the box and you'll see an "Add Printer" command near the bottom of the menu. So if you went to print and realize you haven't installed the driver yet, you don't even have to go anywhere else.