How do I network win xp pro w/ printer to win 7 w/ router

OK i have read other post and what i did i can see the files on XP compter belonging to win 7.
but not able to find printer which are connected to xp.
First off, I had all printers connected to win7 which also has the router. My husband and kids have lap tops which we are all on a network, for some reason was set up on my husbands laptop. I hooked up the old xp pro in another room which is connect by cables, not wireless and connect the printers to the xp. I can see the win 7 on the xp network but not able to access the printers on win 7 and can not see the xp comp. at all.
I did add the guest acct on the xp now not sure where to go from here. Basicly all i want the xp is to operate the printers and software not operational on win 7.
Thanks for your help in advance and i look forward to hearing from you.

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