Linksy to Linksy wireless conection

Hello,

I have two computers at home and would like to connect them together with two Linksy Wireless G routers

model (WRT54 G and WRT54GS).

I have the first computer connected to a modem and then the WRT54GS router.

Here is my question.

When I set up my second computer in the house, can I hook up the second router as an Acess Point to recieve the internet access from the first router?

If yes, what would I need to do to the second router?

Step by step instructions would be helpful.

Thank you,
pmiller