Problem connecting two wireless routers

This is my network configuration:

######### WAN
Computer1 ----#Router1#---------------Cable Modem
Computer2 ----#########-----|
Computer5
|
#########-----|
Computer3 ----#Router2#
Computer4 ----#########


Router1 = Netgear 802.11g wireless router (192.168.0.*)
Router2 = USR 8054 wirlesee router (192.168.123.*)
Computer1-4 = running Windows XP
Computer5 = Windows server with two network cards. Each one attached
to different router.
Cable modem is connected to Router1

What I'm trying to do is to allow computer 3/4 to access the internet.
Becuase of the physical distance, I do not want to connect router 2 to
router 1 using cable. My understanding is that you cannot connect two
routers. This is the reason I put two network cards on computer5 and
try to use software to bridge the two network segments. Is this
feasible? If so, how do I set up the routers? (i.e DHCP setting, WAN
setting etc)? What software do I need? I've already tried using the
network connection bridge option on Windows server but cannot get it
work. Can anyone help? Thanks