If both devices (pc and laptop) are connected to a router you can "share" the printer between the two of them without having to keep un plugging it.
Plug the printer into the PC and set it up so it works.
Then go into the Windows help and search for "printer" or similar and it should tell you how to setup up the printer on the laptop while it is still plugged into the PC.
You may need to "share" the printer on the PC, and install the drivers on the laptop, but once set up you should be able to printer from the laptop to the printer while it is plugged into the PC.