Samsung drivers only seem to go as far back as XP for the SL-M2835DW. However, according to the specs, the printer does support PCL5 so you should be able to pick any PCL5 driver and get it to work, as PCL5 is quite standard. About the main differences between different printers are the various options available, e.g. different trays, duplexer, etc. As this printer only has 1 tray (plus manual feed) you should have minimal problems. Try something like an HP laserjet 4.
To install it, use the Add Printer wizard. When asked for the printer model, select Laserjet 4 (or see if you can find a suitable Samsung in the list) If the printer is networked via its own network port, create a Standard TCP/IP port for it. If it is USB connected to another PC, tell the wizard you are using the parallel port (LPT1). When the installation is finished, change the port to the serving PC.