Until you profile and calibrate your monitor and printer, your printed pictures will not look as they do onscreen.
You have three main things to check. After each part checks out, you'll want to then check out how they're interconnected.
To check your camera, take a photo and bring it to your local drug store to have it printed on their standardized system. If it looks okay, move on to the monitor.
To check your monitor, download and look at a standardized file from your manufacturers web site.
To check your software, create a known file and see how it prints. Try a making a set of 10 grey squares from 0% to 100% black. That will check your gamma, neutrality, and banding in the cross-scan direction. Grey is good to reveal if there are colour alignment problems. You'll see colour in the grey if there's a problem with the printer. (You created a file with no colour; so, if you see any colours they were introduced by the printer.) Create the file in RGB as your camera creates an RGB file. The print-driver software converts RGB to CMYK for printing. Let it.
Standard test images are available on the web with instructions about what to look for in each test. Try to isolate the piece of equipment you want to test from the system you want to trouble-shoot.