If your printer is supported on 10.9. (All Supported Printers http://support.apple.com/kb/HT3669)
(This Also Depends on HP, if there is no driver on there end, you may be out of luck)
Make sure your upto date (10.9.1 It dosen't say it but there are printer drivers in the 10.9.1 update) But you can go into:
- Apple Symbol
- System Preferences
- Print & Scan
- Plus Button in the bottom left
- Local, And network printers will show up here.
If your printer is a Wi-Fi Printer, Make sure it is connected to your network, and I know some HP Wi-Fi Printers require to be added via USB/Setup Via USB for the first time.