How do I connect Canon PIXMA MG5220 printer wirelessly?

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How do I connect Canon PIXMA MG5220 printer wirelessly?

I have a Mac (running OS 10.5.8) and a 2Wire router. 

 

How do I connect my new Canon PIXMA MG printer wirelessly? I get the error message "Failed to connect to the access point."

 

Thanks!

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