You'll need a USB to Mini-Centronics (IEEE 1284-C or IEEE 1284C) cable but even then USB to Centronics is not 100% reliable with bi-directional support for printing. You might be better off connecting it via ethernet to a JetDirect box.
Cable recommended by HP forums here:
http://sewelldirect.com/USB-to-Mini-Centronics-Combo-Cable-Set.asp