DKinTX

I need some help getting all my computers to print. I have a firewall router with 3 PCs and a print server connected to it. My 2 desktops are connected and print fine. My laptop is my company's and I login to their domain via VPN. I can ping the router from the laptop and I can see the print server from the router. I can't print from the laptop. What settings can I change that would let me print from all 3 PCs? Or since I'm logged in to 2 different domains am I SOL? I can't put my desktops on the company's domain.