If you're going to use two routers, each will have to be on a different subnet. An example setup might be one router connected to you DSL dhcp'ing an IP address from your ISP. That will be it's WAN address. You LAN address (internal NAT) will probably be something like 192.168.1.1. Your router is able to DHCP anything on that subnet, meaning any device connected to it would pull an address between 192.168.1.2 - 192.168.1.254.
Now, in order to get the second router setup you would set its WAN IP address to something like 192.168.1.xxx (statically set, don't want DHCP here). Your LAN address would need to be set to something like 192.168.10.1. Any device connected to this second router would receive an IP between 10.2 - 10.254 (assuming DHCP is turned on here also).
If only the people in your house are going to be on the internet, I would recommend setting static routes to the computers and the TiVo. This way, if something doesn't work correctly, then you would be able to know which person's computer has that static IP address.
Just make sure your gateways and nameserver settings are correct depending on which router you are plugged into. This will make a difference.
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