In addition to using Harvard printers on campus, you should be able to print to any networked printers from your home machine. This works by using the FAS VPN (virtual private network), which makes your home computer think it is on a Harvard network, bypassing any security measures that would normally prevent you from seeing your networked printers.
Installing the FAS VPN Client
Open a web browser, and navigate to https://vpn.fas.harvard.edu
Log in with your Harvard ID and PIN.
Follow the on screen prompts to install the VPN software.