*note: All of the equipment I mention below is in addition to what you have aready have.
If you just want to contact print, the set up would cost almost nothing. A minimal setup would be a darkroom, 4 trays, a light source, paper developer such as dektol, stop bath if you don't have any already (fixer and stop are the "same" for film and paper), a piece of glass, paper, and a source of running water (doesn't need to be in the darkroom necessarily, but it's handy).
If you want to enlarge your negatives, it's a little bit more expensive initially because you need an enlarger. A setup for enlarging, again minimal, would be the equipment mentioned above, an enlarger, an enlarging lens, a timer for the enlarger, a negative carrier for the enlarger and format you wish to work with, a set of filters, and an easel of some sort.
Those are both minimal set up--equipment that you cannot do without. It's probably a wise idea to invest in some tongs and a washing attachment or a print washer.
I couldn't tell you in terms of off the shelf prices. You should buy most of this equipment used anyway. You could probably scrounge most of the equipment for contact printing for literally nothing. Maybe you would have to buy the glass and pay someone to grind the edges of the glass, but that would cost you at most 5 USD.
Given that so many places are abandoning film, you might be able to find an enlarger (with lens, timer, negative carriers, and easel) for free or really cheap (under $50). Unfortunately the re is a great degree of variability here. You might have to spend more money on an enlarger, but you'll probably be getting nicer equipment.
Chemicals are v. cheap. Paper is expensive. Expect to pay (on the low end) ~50 USD for 100 sheets of 8x10 RC and ~70 USD for 100 sheets of 8x10 FB if you are using Ilford MG. Filters if you don't get them with your enlarger are in the 30-50 USD price range in my experience.
In the right market, I think I could put everything together assuming a free enlarger for less than 100 USD including one box of RC paper and chemicals. Certainly, no matter where you are, it should be a less than 500 USD affair with paper and chemicals.