Question : Configuring two linksys routers

I need help setting up my linksys routers.  Here's what I have:  
I have a linksys BEFSR41 (wired) set up as:
 IP 192.168.2.1
 DNS - enabled
 Operating mode - gateway
Connected to this router I have:
 WAN - Internet connection
 Router Ports:
   tivo
   x-box
   Cable to WAN port on linksys WRT54GS router

The linksys WRT54GS router is set up and connected as follows:
 IP 192.168.1.1
 DNS - enabled
 Operating mode - router
Connected to this router I have:
 WAN - cable to port on WRT54GS (wireless) router  
 Router Ports:
  PC 1
  PC 2
  PC 3

This router has linksys Parental Controls activated, to restrict access to the internet for the PCs.  The tivo and x-box need unrestricted access, which is why I have them connected to the BEFSR41.  

Here is the problem:
 I need to connect to the tivo, which has an IP address of 192.168.2.100, with any of the PCs, which have an IP address of 192.168.1.10x.  When I try to do this, it won't connect.  I can, however, connect to the BEFSR41 router (102.168.2.1) from the PC (IP 192.168.1.108).

So, how can I configure my routers so that I can connect my PC on the 192.168.1.x network to my tivo which is on the 192.168.2.x network?  Using the uplink port on the WRT54GS  router is not an option, as I need to use the WAN port in order for the parental controls to work.  

Answer : Configuring two linksys routers

From the PC:
Can you ping the Tivo?
Can you ping the Xbox?
You already said you could ping the Router. (Well, you said you can access the router)

What is the WAN IP address for the "Linksys WRT54GS"?
(To save you time, I'll assume the WAN IP is 192.168.2.200)

On the "Linksys BEFSR41",  is the DMZ port set to 192.168.2.200?

Have you tried setting up the "Linksys WRT54GS" to run in Gateway mode?

Good Luck!