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    do you actually want to have two separate networks? Note that using consumer grade internet access routers, you won;t be able to easily connect from the outter network to the inner network. These devices wer'nt designed for this purpose, and have features that make them impractical as interior routers (NAT/SPF configuration which usually can't be disabled while still functioning as a router). if you only want one network, connect the outter router to the inter routers LAN instead of WAN, or put the inner router in bridge mode.
    – Frank Thomas
    Commented Apr 16 at 22:02
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    Note that your scenario on port forwarding from the public internet is still possible even if the outer network systems cannot reach the inner network. just as you port forward from the public address to your outer LAN, you would point the forwarding rule to the inner router, and create port forwarding rules on the inner router that lets the outer router (and network) to communicate with the server on the inner network. You won't have full bi-directional connectivity, but you should be able to access that one service from the outer network or the internet.
    – Frank Thomas
    Commented Apr 16 at 22:17
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    In addition make sure you just have ONE DHCP server. The second router should be on the same subnet as the first router
    – anon
    Commented Apr 16 at 22:17
  • @FrankThomas Your comment about port forwarding was appropriate for my use case by allowing me to continue to use both routers as access points. Please post it as an answer so I can accept it.
    – 777bpc
    Commented Apr 16 at 23:14