u did not mention either it is DMP or USB Printer !. If the printer is Dot Matrix, then it is possible to take print from DOS. Just open BIOS of Local Computer, and make the parallel port Bi-Directional save the BIOS. After that u may print from both DOS and Windows. Or u have to use 3rd party software.
Hope it will help u.
You can also do it to write a set printer command at your main menu prg file
set printer to \\<Computer Name>\EPSON=LPT1
EPSON is indicate your printer name
LPT1 is your printer port