Hi, I'm Sudipto. Welcome to JustAnswer. I'm reviewing your question now, and will post back with your reply ASAP
To print directly from an iPad / iPhone you will need an AirPrint compatible printer (your printer is not AirPrint compatible) or another device to act as a print server. That can be a Mac computer running Printopia ($19.95 with free trial) or AirPrintActivator (donation - supported). The Mac must be "on" but may be asleep for them to work. Equivalent PC options exist but you're on your own finding them.
You can also buy this standalone print server:
These options enable you to use any printer available to your Mac, even older ones that may predate AirPrint by decades.
Otherwise, you will need to buy an AirPrint printer or multifunction device.