With Secure Print, it is possible to add a pass code to your print jobs, so they will only print once you're at the printer and put in your code.

Prepare to print your document normally, with the Xerox printer you want to use selected. Select "Preferences" to bring up the Xerox printer window.
1. For Chrome, you'll need to select "Print using System Dialog", then click "Preferences"
Change the Job Type to "Secure Print...", and put in your 4 to 10 digit number in the window that pops up.
Print as you normally would, with any settings you need, and go to the printer.
On the printer, press the "Job Status" button on the Control Panel and select "Secure Print Jobs", then find your job.
Enter your passcode and select "Release All" to print all your secure jobs, or select a single job and press "Release" to print a single job.

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