Assuming you have Panther or Tiger on the G5; take a look at the Active Directory tool in /Applications/Utilities. You will need help from your system administrator, since he has to tell the domain controller to let you join and then provide information to you to do it.
As for installing printers, that varies wildly depending on what kind of printer. If it's a USB printer, just plug it in, it will probably detect it. If it's a network printer, open Print Center, and take a look.
I had a problem with an HP printer that I tried to connect to an OSX machine. HP's site said that the printer was on the menu to add a printer, but it wasn't. I added the network printer, and it printed, but the MAC said that it was a PS printer, so nothing came out in less than 20 pages.
-David
2006 Microsoft Valueable Professional (MVP)
HP's Mac support is like anti-matter; they seem to write drivers that actually try and destroy your Mac.
I had one of their all-in-one units hooked up to an iMac; it was an absolute disaster. I ended up throwing it in a box and reconnecting my old epson 740.
I spent a little time on it, but couldn't get it configured, but didn't investigate, as I was there to work on an XP box.
I was told that I shouldn't have gotten involved, but I was waiting for the OS to install
-David
2006 Microsoft Valueable Professional (MVP)
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