|I need to know exactly how each router should be configured|
I'd love to tell you but without knowing the settings of your existing router, that's impossible.
What I can do is point you at a guide I wrote:
Click on my name above in this response and read my “how-to” guide titled, “Add a second Router to your LAN”
The IP addressing in my guide is for example only. You would use the IP address on the LAN side of your upstream router (router 1 or in your case from the looks of it, the Actiontec) and go from there.
You will want to use the Version 1 scenario where you interconnect the two routers LAN port to LAN port.
It matters not how straight the gate,
How charged with punishments the scroll,
I am the master of my fate;
I am the captain of my soul.