You can do that with two methods. You can connect from a printer network setup option or By installing the smart app of your printer model.
Hi Emma, without knowing the Xerox device model number it will be difficult for anyone to help you. While many of the Xerox devices have similar steps to setup WiFi, some are different.
Please post the Xerox model number so someone can help point you in the right direction.
Anyone Has an idea how to connect WiFi to the printer, If you have an idea please mention it below.