First you have to see if your printer has access to your home network. If it does not, then you're out of luck and cannot print from your surface. If it does connect to your home network, then follow these steps to connect to your printer.
1. Go to the desktop on your surface.
2. Swipe from the right side of the screen.
3. Tap "Settings".
4. Tap "Control Panel".
5. Tap "Hardware and Sound".
6. Tap "Devices and Printers".
7. Tap "Add a Printer".
Now your Surface will search for available printers on your network.
8. When your Printer shows up tap it, and then tap "Next"
9. Your surface will automatically search for the correct drivers, and Install them for you.
When it is finished, it will ask you if you would like to print a test page. If you would like you may, but this usually means you are done. You may tap "Finish" at the bottom, or just close the window.
You are now ready to Print.
Note: Sometimes the Surface does not always automatically find your printer. Occasionally a list will appear asking for more detailed information about your printer. Just sift through the list until you find your specific printer, the list is categorized by Brand and Model Number, select your printer, tap "Next", and your Surface will do the rest.