Not able to print from my laptop

Hello,

I just purchased a LexmarkX5410 all-in-one printer. The printer has a usb connection, and I I have a Linksys G Broadband Wireless Router which has an ethernet connection. I currently have a desktop and laptop pc they both run on Windows XP. Currently, the printer is hooked up to my desktop computer and I am able to print from my desktop. However, I need to know how I can print from my wireless laptop. I tried utilizing the disk that was provided by Lexmark to set up the printer but I am not computer savvy and was lost when they asked for computer name and IP address. I have also set up both my desktop and laptop to share information from computer to computer but that seems to not work. Can you provide some assistance?