Dual Routers with switch

Hello, I hope someone can help me with this.
I have a BEFSR41 router (192.168.1.1) with port 1 connected to a EZXS88W switch (on port 1). I have the DHCP enabled and set to 192.168.1.20 with 5 IP addresses allowed.  Connected to the switch is 4 computers with MANUAL IP addresses (192.168.1.101 to .104). Works very well. Can browse the internet, internal network and host two websites from the server computer.  All is good.
Now, I have a WRT54G (192.168.1.10) that I use for only the wireless feature. After many attempts to get this thing connected (many hours of work and online research), I finnally have it barely functioning.  I can connect the laptop (192.168.1.20) to the WRT54G, but the connection is painfully slow when browing the other computers and the internet.
The only way I could get the WRT54G online was to hook up port 1 to port 3 of the switch. DHCP is turned off.  Setting up the router as "router" or "gateway" seems to have no effect.  Also, it seems that in this configuration, when I connect my son's Nintendo DS (192.168.1.25) to the wireless router, the laptop can no longer surf the net or local network (encryption set to WEP in this case). Have not tried setting up the Ninteno Wii yet, no point until I get the wireless stabilized.
All computers have the IP addresses manually assigned with the subnet at 255.255.255.0 and the gateway 192.168.1.1
I have read that the WRT54G doesn't get along with the BEFSR41... then I read that they get along just fine.
I have picked this configuration so I would not have to run anymore Cat5 around the house... but if I can't get the wireless to work, that is my backup plan.
Has anyone ever setup a configuration like this with these three units? I've tried to upload an image of a block diagram to help explain how I have connected the system, but I don't think it works.

Thank you for the link... I tried it and it worked ... but for my internal network only.
As soon as I selected NAT to disable, I lost connectivity to the internet.  Oh well, not a big deal.  Another run of Cat5 and a few connectors will get my network back to where it needs to be. I really do appriciate the link just the same.
Thanks

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