Click Start and select settings, choose printer and faxes. See if printer is there.
If yes, is it set as default? If no, set it as default printer.
If it is already set as default, delete it first and click add printer.
If there is no printer at all, click add new printer.
Usually, XP has printer drivers from many manufactures. If it does not have one, you need to have CD that came with your printer.
Good luck