Airprint is an Apple technology that allows you to print without the need to download and install drivers onto your Apple device. However, for it to work, you will need to have a printer that supports Airprint, and is able to connect to your home or office network using a wireless connection.
For a more detailed explanation of Apple's Airprint technology click here.
This very helpful website page from Apple that also includes a comprehensive list of printer models that support Airprint.
If you don't have an Airprint printer, there are still solutions out there where you cab get an iPad to print. However, these will usually mean connecting your printer to your Apple PC and use a third party app - Print n Share, HandyPrint or Presto - on your iOS device.
If attaching your printer to the PC is an issue, and you would like the printer located elsewhere, then you may wish to look at using an Apple AirPort base station.