Two LANS, Two Routers, Two access types, one printer

Due to requirements of my corporate network and the fact that I work from home often, I have two LAN networks set up. One is an ADSL connection and the other is a cable modem connection. Each have their own Lynksys wireless routers, but I only have one all-in-one printer with a network card. I have no experience with routing protocols so I was hoping there was some piece of hardware that I could use to allow both networks to use the printer. Any suggestions would be greatly appreciated.