Before printing, you may want to use the lpstat or lpc commands to list the available printers. You may want to also use the pr command to format a file for printing.

There are a few different commands that can be used to sent print jobs to the printer.

• lp (Line print)
• lpr (Line print request)
• lpd (Line print daemon)

The lp command can be used to print a file. In this example, the foo.txt file will be printed to the default printer the /etc/cups/cupsd.conf file.

lp foo.txt

If you have more than one printer or more than one print queue, the lp -d command can be used to specify a printer or queue. 

lp -d HP-Laserjet-4000 foo.txt

For a complete list of options, view the info or man page.

man lp
info lp

The lpq command can be used to view and cancel print jobs in the print queue. The lprm command can be used to remove print jobs.