Printing from a wireless connection with windows 2000

I have 3 computers running windows 2000. 2 of them are connected to my dsl modem/router via cat5 cable. my third computer is connected using a cisco wireless card. I am able to connect to the internet from that computer. I want to print from this computer wirelessly also but am unable to do so. I have print sharing enabled and am able to print from both computers connected via the router. I am at a loss and do not know how to proceed. Can some one please help me?