Mainly there are two default commands:

lpr and lp

man lpr gives the output:

lpr submits files for printing. Files named on the command line
are
sent to the named printer (or the default destination if no destination
is specified). If no files are listed on the command-line, lpr reads
the print file from the standard input.

man lp gives the output:

lp submits files for printing or alters a pending job. Use a
filename
of "-" to force printing from the standard input.

so easily use the command:

lp /path-to-file-to-print

Or

lpr /path-to-file-to-print