sudo apt-get install cups
sudo usermod -a -G lpadmin pi
sudo nano /etc/cups/cupsd.conf

Find:

 Only listen for connections from the local machine
Listen localhost:631

change it to:

 # Only listen for connections from the local machine
 # Listen localhost:631
 Port 631


< Location / >
   # Restrict access to the server...
   Order allow,deny
   Allow @local < /Location >


< Location /admin >
   # Restrict access to the admin pages...
   Order allow,deny
   Allow @local< /Location >


< Location /admin/conf >
  AuthType Default
  Require user @SYSTEM


  # Restrict access to the configuration files...
  Order allow,deny
  Allow @local< /Location >

sudo /etc/init.d/cups restart

sudo apt-get install hplip

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Resources
How to Add a Printer to Your Raspberry Pi (or Other Linux Computer)