AirPrint enables instant wireless printing from iPhone, iPad, iPod touch, and Mac without the need to install drivers or download software.
If you disabled paper configuration messages on your printer control panel, you cannot use AirPrint. See the link below to enable the messages, if necessary.
Load paper in the printer.
Set up your printer for wireless printing. See the link below.
Connect your Apple device to the same wireless network that your printer is using.
Print from your device to your printer.
For details, see the AirPrint page on the Apple website.