The Common UNIX Printing SystemTM, or CUPS, is the software you use to print from applications like the web browser you are using to read this page. It converts the page descriptions produced by your application (put a paragraph here, draw a line there, and so forth) into something your printer can understand and then sends the information to the printer for printing.
Big, big fan that I am of Debian, to do this in Mandriva is:
# urpmi cups
After that it's all point and click...
As a note, 'drakxtools' is required, but usually installed by default ('urpmi cups drakxtools' would do the job, if not) .