I just want to know if there is anyway to connect

your Install CD which will guide you to install the drivers or software for your wireless printer once you have done that check in control panel that you have network sharing for printer turned on
Eg
Windows 7
START>Control panel>(click on view to small items view)Network sharing centre>in the top left corner you will see an option CHANGE ADVANCE SHARING SETTINGS>in the list you will see TURN ON FILE AND PRINTER SETTINGS
found link for XP version http://www.bleepingcomputer.com/forums/topic47775.html
hope this helps