I reinstalled one of the printers with the disk but the icon didn’t appear on the “Printers” part of Control Panel.
Do what I said. That will fix your issue.
Is the printer turned on? Is the cable connected? Is it a USB printer? If so, make sure it is DISCONNECTED, leave it turned on, and reboot the computer. Then plug in the USB connector.
I’ve been using Win7 for the last several months, so it’s been years since I’ve paid attention to XP news, but what stevestras wrote in #4 sounds likely to me.