How do I connect Canon MG6320 wireless printer with Xb7 modem?

This wireless printer has recently become unable to connect to my network. When I try to reconnect, the printer identifies an "access point," but since there's no button for me to press on the modem, the printer is unable to actually connect to the access point and just times out.

So how do I get the modem to communicate with the printer?

Thanks.