YES, you can print from your ipad at home, but you must have a wireless network active at the house, and your ipad must be connected to it.
If you have an Airprint-capable printer with a wireless option, your iPad should be able to see the printer.
If you have a Mac desktop running 10.6 or newer, you can purchase and install HandyPrint [CLICK HERE]. That software turns your Mac into an Airprint server, so the iPad can see the printer.
If you have a desktop running Windows 7 or newer, CLICK HERE for an article about setting up your machine. It does involve downloading Airprint Service Installer – but the article walks you through the process.
CLICK HERE for a list of Airprint-compatible printers
CLICK HERE for a wikipedia article covering Airprint basics.