If everything's configured correctly, and you can ping the other computer (from a DOS prompt, type "ping 192.168.0.x", where 'x' is the number of the router port you've got the other computer plugged into + 1 (the router is 192.168.0.1, so computers start at 192.168.0.2). If that works, try right clicking on your Network Neighborhood icon and using "Find Computer" to locate the other computer by name. Once you find it, it should show up in your Network Neighborhood. Sometimes they just don't show up automatically...
Once you've found the other computer, you can set up the shared printer to appear as just another printer on any of the machines.