Like ste_bla said, turn off the DHCP server on the second router. Connect the two routers together using a patch cable between a LAN port on the first router, and a LAN port on the second (going into the WAN port will only over complicate things - double NAT isn't nice).
Once you've done that, the second router is acting as a switch - plug PC's into the LAN ports on either router and away you go.
You'll make your life hard! Especially as your routers very likely aren't "designed" for configurations but simple toggle features on and off.
Give it shot. If you don't succeed just buy a cheapo £10 switch.
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