The printer should be connected to the Wi-Fi router - the same one your computer (from which you want to print) is connected to - so that both are on the same Wi-Fi network. The printer's manual should explain how to do this. Another option is to connect the printer directly to the computer using a USB cable.

You need to install CUPS.
Go to: http://localhost:631
Click: Administration (it will ask for the root password)
Click: Find New Printers

CUPS will start listening for printers that announce themselves on the network and, after a moment, will display them.

Then add the printer and configure it (also within CUPS)