Connecting Vista laptop to shared printer on XP on LAN

I'm trying to print from my Vista OS laptop to a shared Epson Stylus C66 printer connected to my XP pro OS desktop. I've tried connecting the printer over the USB and it installs fine on the laptop and prints a test page. Trying to find it as a network printer just doesn't work - it searches but won't find any network printers. Not sure how to connect the printer to the (Belkin) wireless hub - that's got ethernet connections and the printer's USB so I guess it can't be a *network* printer. I see other people have reported problems connecting shared printers Vista to XP or vice versa and there are bits of the replies that I don't understand - how do you set up workgroups?