In order to print to a PDF file you will have to install PDF software and set the PDF software driver as your default printer. One product that is very affordable and easy to use is PDF995. We use *PDF995 in our office.
 
Please refer to the PDF995 software website (or the website for the PDF software of your choice) for instructions on how to print multiple documents to a single PDF file. This is necessary because each page of the 571 form will print as a separate document to your printer or PDF driver.
 
* We do not sell or support PDF995 software or any other PDF software.