Heres the situation. I have two routers and I want them to link together wirelessly. I'll start off simple and hope for help.

Router A is a Linksys WRT54G v5
Router B is a Netgear WGR614 V6

I have Router A connected to my dsl modem inside of my parents house.
I recently bought a new computer and put my wireless card in the new one and have used Windows ICS to connect it and the old one.
I want to set up Router B to access the internet from Router A so I can have both these computers connected to the internet without using Windows ICS.
Hope you could understand that any help would be appreciated. Any details you need I can give.