Setting up printer

[David J. Hatter]

I am runnning Hoary.  I am connected to a U.S.Robotics 8022 router/print
server from which I get my internet connection.  An HP Laserjet 6MP is
also attached to the USR 8022.  I am relatively new to Linux and Ubuntu.
Can I set up Ubuntu such that I can print to the HP?  I am aware of
System>Administration>Printing but after that I get lost.  I assume that
I should select "network printer".  If I then select Unix Printer how do
I know what to insert for "host" and "queue"?  Where do I get drivers
from?

Any and all suggestions are appreciated.

Thanks,
David.