IP printing across the internet

Help

I have a printer sitting in a remote office which has 3 systems running xp
pro. The printer is sitting behing a Cisco 871 firewall and I have opened
port 515. They have a static IP address

From our local office I need to print to the remote printer and want to make
the connection on my SBS 2003 system so everyone here can get access.

I tried setting a standard IP port with the drivers load in my local office
pointing to the ip address of out remote office and when I send a test page I
get a print error.

What do I need to do to make this happen