Some printers require only a direct connection with a computer via USB port to be linked. Windows 10 recognizes and installs the respective drivers based on the build and brand of the printer while other printers install the printer driver initially and then establish a connection.
Windows home networking feature, HomeGroup, shares printers, and certain files with other computers on your network. Here is how to set up a HomeGroup and connect it to the shared printer.
If you find it difficult to connect the computer and printer, tap the Help (?) button on the printer software. You can find the necessary information there to link both the devices.