My issue: I know that I can disable DHCP on the second router, connect the two routers LAN to LAN (as opposed to LAN -> Internet port on the second router) and have all of the devices stay in the same network. However, I have a Cisco RVS4000 that I plan on using to allow employees to connect to remotely using the Cisco Quick Connect VPN client. I have only been able to successfully connect to the RVS4000 when connecting LAN->Internet port (it's the second router and I have no choice in the matter). Doing this puts the computer and printer also connected to that router off of the outside network. Can I keep the routers connected in this way and yet allow the two devices connected to the second still be discoverable to devices connected to the first (and likewise be able to discover devices connected to the first)?
I have this problem too.