With luck and the default settings, this should be automatic.
Open the printers folder on the host PC and see if your home printer is
listed as the default.
If it is not, there are about three possible issues:
1) (least likely) Work machine does not have SP1 on it and has an antivirus
which blocks file/print sharing via RDP. Fix: Install SP1 (or disable
antivirus on the host machine
2) RDP print redirection redirects the PORT. If the port to which the home
printer is connected is other than LPTx or SERx, it won't be redirected by
default. This is particularly a problem with multifunction USB-connected
printers which use a DOT4 port. To discern this, open properties of the
home printer and look at the connections tab to see the name of the port
used. If it is DOT4, follow the advice in this KB article, and reboot the
home PC and test again:
http://support.microsoft.com/?kbid=302361
3) The port is being redirected just fine, and the host machine can see it,
but doesn't have an appropriate driver for the printer attached to that
port.
Solution: Install a driver on the host machine for the printer in use at
home. Don't worry about what port the printer is on--just say LPT1. Once
the printer is installed, you may, in fact, delete the printer. In the
course of the deletion dialogs, you will be asked whether you wish to delete
files used for this printer which are no longer needed. Say no.
This process leaves the driver available for on-the-fly
connection/disconnection as RDP sessions call for it.