I am sorry I can't advise any further on how to print from your iPad as I don't own one - maybe someone who does will follow up with some information for you - in the meantime I hope that my links help you.
It depends on the printer. You cannot print to most older printers. However many modern printers permit printing wirelessly by downloading an app or by sending an email to the printer. I couldn't print from iPad until I got a new printer.
If you don't have a wireless printer you can email the image or whatever as an attachment to yourself & print it via your wired printer. Most new printers have wireless capability so it wont be an issue forever.