CUPS should be installed by default. You can get to the config pages by pointing a browser to TCP port 631. However, for security reasons, it only accepts connections from the local computer. 2 possible options are:
(1) Use a text-based browser (e.g. "elinks") on your local machine, and open "http://localhost:631". Follow the prompts. If you don't have elinks installed on your system, run "yum install elinks" as root.
(2) Login as root, and edit /etc/cups/cupsd.conf and change the line "Listen localhost:631" to "Listen 631". Save the file and exit back to the command prompt. Run the command "service cups restart" as root to restart CUPS. You should be able to use another computer connected to the same LAN to open "http://localhost:631". Follow the prompts. Don't forget to change the line in cupsd.conf back after you have configured the printer.