The drivers for the printer will be what is on the disc.
Try the Printer manufacturer's website to see if you can download the drivers from there.
Some printers don't need drivers specially installing, so in the first instance you could just plug it in and see what happens.
I see you are using OSX 10.7.5 See this:
Go to the vendor's Web site and download the OS X drivers and network setup tool for your printer. Some printer vendors have everything you need on their Download page.
I actually manually setup my Canon printer from the Setup Display on the printer. I had to enter the WiFi network for it to connect to and the WPA2 passphrase. Once the printer was connected, I loaded the drivers and printed a test page.
Similar to some of the other responses, I often ignore the disc entirely and go to the printer company's web site and download the drivers directly. And this is even though my Mac still has a disc drive! The reason I prefer to download is that a lot of times, by the time the disc makes it out of the factory, to the store, and to your home, the drivers on it may already be out of date. So even if the printer comes with a disc I still go to the company website to make sure I have the latest software for the printer.