Putting a printer on the network

I am a novice at networks so I appreciate any assistance anyone can be.

I have a set of computers wirelessly routed behind a netopia static IP gateway. There is a 16 port hub also attached to this arrangement.

The PCs all share an internet connection with no problem.
The problem is that I have a network printer that needs to be added to this network for use by all.
I look for the printer on the network, but it is not there.
What is the procedure for putting a network printer on your network?
Should the network see it just by plugging it into the router? Or, does it have to be assigned to the network somehow?
Told ya I was a novice.
Can anyone help me out? I would certainly appreciate it.