How do I transfer pictures onto the memory card?

I accidentally took a bunch of pictures withouth the 64mb memory card in the camera. I have the pictures saved on the camera but I dont know how to transfer them onto the memory card, so that I can save them on my computer.
I took pictures on my camera HP Photosmart 415 and did not have the memory card pushed all the way in. I have stored 5 pictures in my camera's memory, but have no idea as to how to get them downloaded onto my memory card. Any ideas?