How I connect a printer to two computers? (See Description Please)?

Two home computers. The printer is connected to an XP computer directly. The other computer is Vista and I can't seem to get it connected to the printer. Any help? Thanks so much in advance!
Update: Two home computers. The printer is connected to an XP computer directly. The other computer is Vista and I can't seem to get it connected to the printer. Any help? Thanks so much in advance!

Would it be easier to hardwire the Vista one and connect the XP one?
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