1. Using your ISP modem assign a static IP to your second router, i.e. if your ISP modem is using LAN DHCP 192.168.1.1 you could assign the static IP for the second router as 192.18.1.2. On your second router set to get its IP from DHCP.
2. For your second router assign a different LAN IP and subnet i.e. 192.168.100.0/24 so your LAN IP on this router could be 192.168.100.1. You will be able to connect and administer router 1 when connected and using a device connected to router 2. You will not be able to administer or connect to router 2 or any device on it from any device on router 1. Do not enable permit remote access to either router as it is a major security risk.
3. Connect a cable from any LAN port on router 1 to the WAN port on router 2 and set up your second router as your normally would for any router connected to the WWW.
This is all should need to do. People will moan and groan and tell you double NAT is terrible and will screw everything up and slow your connection down. It probably will add a few ms to your latency as the electrons have to travel through another device and another cable, but unless you are trying to front run the stock market it won't be a problem. The only thing I haven't been able to accomplish in a double NAT using ASUS hardware and Merlin's firmware is run a VPN server on the second router. VPN clients run equally well on either router in my setup.