Share Workgroup printer when on a Domain

I have a remote user that VPN’s into the local domain. She connects through a router that has a local work group on that end.

One other computer on that workgroup has a printer she would like to use while still connect to our domain. When I try to add it as a printer I get…

A policy is in effect on your computer which prevents you from connecting to this print queue. Please contact your sys admin.

I am new to SBS 2003 and not sure where to find this policy to give rights. Yelp!