Digital camera driver for windows xp

Did you receive a CD with the camera to install Software & USB Drivers ?
If not, check here for your Model: http://www.usa.canon.com/cusa/consumer/products/cameras

Have a users manual for the Camera ? On some Cameras you have to bring up a menu, and enable the USB Interface.

Once the above is done, plugging the Camera into a USB port is all you normally need to do. (Either the Canon software or Windows will detect the Camera and guide you thru the process.)