Looks like your router has wireless -
http://internethelp.centurylink.com/internethelp/modem-pk5001z.html
so if your comp does not have wireless, you can use the router wireless.
This is how I do it - my comp is Ethernet connected to router and does not have wireless, so I use the router wireless.
My comp can see the printer just fine.. (Traffic goes from my PC to router via Ethernet - and then hops to printer via wireless).
You may want to assign a fixed IP address for your printer from the router - just to make sure it does not change. If it changes - it may confuse your PC print driver, so fix it to be sure.
If it sounds complicated - don't worry - its not.
And Alexoiu post above seems to have provided a link with a...