Every setup printer has a stick which embeds its model, brand and serial number. You can take that information and search on Google for specific drivers. I can assure you than in few minutes you will be downloading the right driver for your product since product drivers are accessible and easy to find.
For example, if you have a HP Photosmart D110 printer, you can go on Google and paste the exact model and brand and the first link that you will find will actually be the right one with the drives.