Sam mentioned a download link in one of his posts. Assuming the downloaded file is in PDF format, once downloaded, as long as you have a PDF reader installed on your system, it should open with the PDF reader. From there you should be able to print it.
If that doesn't work, the other thing I would try If you have a Mac, is to click on your DVD in a'Finder' window. Ignore the VOB files and look for a folder with .PDF files inside. If present, to open the PDF files just click on them. Once open, you should be able to simply print the contents directly to your printer.
Same procedure with Windows, but you'll use Windows explorer to look at the files within your DVD. If you do have Windows, you may need to download and install a free PDF reader (preferably directly from Adobe) to use PDF files.