Can’t print to shared printer over LAN

I have a small LAN (2 PCs running XP) and have been trying, with the help of others who are more knowledgable, to be able to print to the printer on another PC. I can access the internet from the second PC, but can’t access the network. I get message saying I may not have permission to use this resource and to contact the administrator of the server. I am the only administrator for both PCs; how could I not have permission to access this resource? Obviously I have the printer set up for sharing and I can see PC#2 over the network but get the same error message as when trying to see the LAN from PC#2, except “Network path was not found”.
I am getting tired of using a floppy from PC#2 over on PC#1 in order to print.