Instead of having 2 routers, you could also snap on an "AlphaShield" external firewall, it's cheap and...Has been proven to be unhackable up to know. There was a 2M$ contest to hack it, no one won. The only thing is, this firewall is so safe...It can be hell with some softwares such as msn.
You see, this alphashield doesn't let data in unless you have "asked" for it. Let's say you're on msn, people won't be able to write to you unless you have started the conversation. Your computer becomes a vault on the inbound side, but this doesn't affect the outbound. It just makes you unreachable from outside, but if you let a virus in your network (downloads), then the firewall isn't going to be much help. The alphashield is good if you want to totaly secure your PC because you have confidential data and don't use it for gaming or chating, but only for surfing websites.
If this is what you want, I suggest you get it by ebay, usualy around 60-80$.
On the other hand, for something less intrusive I recommend using a GOOD anti-virus with a firewall also on each computer. I swear by Eset's Nod-32. You can get their SmartSecurity kit wich includes an anti-virus and firewall, or just the anti-virus wich a separate free firewall such as PC tools, wich is free and well rated for windows XP (on Vista it wasn't rated as well). There are other good firewalls like Outpost and Online Armor also, and anti-viruses such as Kapersky and Bitdefender wich are all very respected.
Usualy mixing a router (better if you have one with SPI firewall) plus a GOOD RATED anti-virus and firewall on each computer, then you're pretty much as protected as can be. Of course, there could be some other small tweaks that could help, but for what it's worth, the solutions above should do the trick.
Like said above, every port open is a breach.