setting up a printer without X-windows

guys,

how can i set-up a printer without relying in tools that uses xwindows?
Heres my situation; We have build the linux kernel 2.6.6 and and put it on a
device that runs on Intel CPU. This device is connected thru a USB printer.
Given the Kernel + the bootloader we can boot linux from there and our next
step is to set-up the devices connected including the printer.. 
I need help in the following items:
1) Setting up the usb printer
2) Is the command "lp" default in linux or we need to install and download it?
3) Is there any available resources in he internet that teaches me how to
perform this?

thanks