Right click the upward pointing little arrow on the bottom right hand side of the screen where all the icons are. Select Customize notification icons. Scroll down to the printer icon. In drop down menu select show icon and notifications. OK
That's not the task bar, that's the system tray and the icon only appears there when a print job is queued up.
@OP: I don't think there is any way to put a printer icon on the task bar. You can put a shortcut to a printer on the desktop, but that isn't very useful unless you drag/dop a lot of documents to the printer for some reason.