How to enter a manual IP address?

I connected an HP LaserJet 8100 DN directly to my computer via the RJ45 ethernet ports and using a crossover cable. I am using Windows XP and am getting a limited connectivity to the local area connection. Earlier I was advised that since I am not connected to a hub or router to automatically detect DHCP an IP address that I need to enter an IP address manually. I think I need to go to my connections, click o the local area connection and change properties. Can anyone advise?