To convert a PDF, such as http://www.justice.gov.uk/downloads/global/forms/opg/EPA101_Mar10_Web.pdf, to print as a booklet on Linux, try these steps:

1. pdftops x.pdf x.ps
2. psbook x.ps x-book.ps
3. ps2pdf x-book.ps x-book.pdf
4. acroread x-book.pdf

and then use acroread to print it 2-up (2 pages per sheet, duplex tumble).  The command acroread generates is (all on one line):

lpr -P HL-5250DN -o OptionTrays=1Trays -o PageSize=A4 -o PageRegion=A4 -o CAPT=Low -o BRMediaType=Plain -o InputSlot=AutoSelect -o ManualFeed=False -o Duplex=DuplexTumble -o TonerSaveMode=On -o Sleep=PrinterDefault -o ScreenLock=True -o BRLanguageLevel=L3

so it should be possible to use lpr directly (but I haven't tried that).