Trouble communicating accross two home networks

Hello,

My current setup:

DSL -> 2Wire 2Wire Intelligent Gateway

2Wire 2Wire Intelligent Gateway to 5 port swith

A port from the switch to a wireless router.

My problem is the 2wire Gateway has wirless broadband but the signal is
not strong enough to reach outside to the garage.

So I have a line coming from the Switch to the garage and have
connected a wireless router with print server.

This causes essentially two networks ( one created by the 2wire Gateway
and one by the 2nd wireless router added)

How can I access a resource from the 2wire network from my USRobitics
network?

Appreciate your help.

Equipment Used:
2Wire residential gateway
linksys 5 port switch
USRobotics wireless router with print server
1 desktop with WinXp Sp2
1 laptop with WinXP Sp2 media center edition