By default, Mac OSX 10.9 (Mavericks) and later should automatically be aware of all the printers available ; you just need to tell it which one(s) you want to use.
Open settings and choose 'Printers & Scanners'. At the bottom of the page click 'Add Printer, Scanner or Fax'
Click on IP (centre icon at the top that looks like a globe).
In the 'Address' box type the printer name (from the list). Choose 'AirPrint' as protocol.
Name and Location should autofill. Click 'Add'.
This will take a while ...