How to use printer connected to a PC in home network

I have Powerbook Pro, using OS X.

I have HP 6P printer connected to windows XP. I have setup home network using PC but still unable to connect my Mac to our wireless home network to share files or print.

1. HOw do I setup home network so I can connect from my Mac to PC wirelessly?

2. What do I have to do after 1, to use the printer that is connected to PC?

thanks, in advance.

dennis