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I use Printer Share which I find really great.it connects to your printer thru wifi..easy to operate as well
As the title says really, what is the best way to do this. my printer is attached to my router.Any ideas?
All down to your printer make really. I use the HP ePrint app for mine and it works very well, i am willing to bet there is generic software about though.

There's also cloud print.
The only problem with the HPeprint is that it only prints pdf files and not url's. So, I use url to pdf app and convert the url to a pdf and then the HP eprint app prints right away. The HPeprint app is awesome for printing photos also
I also send files via email to my printer from anywhere and it will be ready for me when I get home, so this is a benefit with the phone too
The only down side i found is printing excel doc's, i could not find a way to print a second spreadsheet from within the same document. It would always default to the first spreadsheet from within the file.