Print from Indesign is darker than the export to PDF print

I exported to PDF a file from indesign. Can anyone tell me how I can print from the PDF (Acrobat Pro DC) as well as from indesign and have the colors be the same?  I am printing on a laser printer, but the colors are really off from one another. I could really use some help with the print settings that are best to make this happen, if possible? Any help is greatly appreciated!