Are you running in to a specific problem? And you're working and a PDF form? If you've filled out the form online, you can mouse over the bottom of the form to bring up the heads-up display, where you'll find a print icon. If you've filled it out on locally on your computer (in Reader or Acrobat), you would print it as you would print any other file.
Please let us know if you have additional questions.
When a file says it's SECURED, that means that somebody has applied password security to it. The only way around that is to supply the password. It sounds like that form is meant to only be submitted online. You may need to contact the form creator to get a printable version.