To print from your iPad you need a wireless printer on your home network. Operating system 5.0 or higher automatically. gives you Air Print on your iPad to allow for printing. Very easy.
I bought a wireless printer just so I could print from my iPad. It is slick to sit in the living room and print ehat I want from computer (Windows) or iPad or iPhone. Printers are cheap and new ones are wireless. And very easy to set up.