How do I set up two PCs to use the same printer?

Can someone please post me (or post a link) some VERY clear, step by step instructions for how to set up two PCs to use the same printer through the home network?  I've looked at a few different set of instructions I've found online but have never been able to figure it out or get them set up right.  The main PC is hardwired to the printer, and I know there is a way to set up the second PC to connect to the printer through the router, but I don't know how to do it.  Please help!

Sharing The Printer

It does not matter which machine the printer is connected to; as long as the printer is connected and File And Printer Sharing is enabled, sharing the printer is simple. To share the printer from the computer it is connected to, do the following:

1.Click Start, Settings, and Control Panel and then double-click Printers And Faxes.
2.Right-click the default printer (the one with the black check mark beside it) and  choose Sharing.
3.Click the Sharing tab and the Share This Printer radio button.
4.Click OK, and the printer will now be accessible to the other PC in the network.

Adding a shared printer.
To add the shared printer to the printer list on the computer that is not physically connected to the printer, do the following:

1.Click Start, Settings, and Control Panel and then double-click Printers And Faxes. Click the Add Printer link.
2.Click Next on the Add Printer Wizard window. On the Local Or Network Printer window, click the radio button next to A Network Printer, Or A Printer Attached To Another Computer and then click Next.
3.On the Specify A Printer window, click the radio button next to Browse For A Printer and click Next. On the Browse For Printer window, click the MSHOME workgroup and click Next. The shared printer name will appear below the MSHOME workgroup name.
4.Click the shared printer and then click Next.
5.Click Finished on the Completing The Add Printer Wizard window.

To verify that your printer was set up successfully, you can view the printer in the printer list under Printers And Faxes in the Control Panel. If your printer is in the list, it has been set up successfully. A message will also tell you that your printer has been set up successfully upon completing the Add Printer Wizard.

1.  Operating System.  What operating systems are the two computers using (e.g. Windows XP Home Edition SP3, Windows XP Professional SP3, Vista something)?

2.  Windows XP Reference:  Sharing printers

^They're both using XP Pro SP3.  (Forgot to mention that....)

^They're both using XP Pro SP3.  (Forgot to mention that....)

Alright, then go ahead and follow Vikram Varaprasad's instructions. What are you waiting for?

LOL...  I will, as soon as I get back over to my Mom's house, where the two are located.  Will let you guys know the outcome.