Although it's often impossible to precisely match colors from an electronic image when printing, InDesign can help make the color fidelity as high as possible through its support of color profiles and color management. It can also help make what you see on-screen and print on proofing devices look close to the final output, to help you better gauge your actual colors.
If you use a compatible output device, InDesign also lets you control how adjacent colors print, in a process known as trapping, minimizing the chances of gaps appearing between colored objects. Fortunately, most users won't need to worry about fine-tuning trapping settings, since InDesign's default settings handle most objects well.