How do i print from my mac book using printer connected to my Imac

I am trying to print from my Mac book by using the printer connected to my Imac however i keep getting a notice which says
Authentication required.what am i missing? I set them up to share printing but something is wrong

Before trying to figure out if I can help or not, a bit more specific information is needed:
1. You list an iMac G5 in your profile - is that the iMac you are using? In that case, you'd get more knowledgeable answers in the G5 forums (this is an Intel iMac forum). If you have an Intel, please give more details (model, etc).
2. What model/make printer? Does it have wireless capabilities?
3. What model/make router? Or are you simply trying to use the built in Airport from your iMac? In that case, do you have printer sharing enabled on both machines? If so, did you create a network? For detailed info on that, use the Help Menu in Finder and type in Network - one of the subjects available will be "creating a computer-to-computer network". It contains instructions on how to create it including a password (authentication).
You might also try to use the search function on this forum and type in "printer sharing". There are many threads, some of which might be useful to you.

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