Connect 2 linksys wireless routers

I have 2 linksys WRT54G wireless routers, I would like to know how to use one as an access point to boost the signal throughout my house. One is in basement with one PC wired and a network printer wired. The other 3 pcs are on 2nd floor wireless, with a good connection status. Would like to know if this would boost speed and improve connections status. Thanks for any help or suggestions!!