Can't Print from gedit

[alex]

All I want to be able to do is print documentation that I've typed or
copied into gedit but I just can't seem to get my printer to work.  All
I can find on the web is situations dealing with networks.

 I have a HP5551 printer connected to one computer running ubuntu, the
simplest possible setup.  

Are there any instructions for setting up a printer that's connected to
one computer? I know nothing about the relative merits of
different printer setups, CUPS, et al. 

Where do I start?

alex, the OF