802.11b Roaming Problems

I just acquired a second Lucent 802.11b access point and I’m not sure how to allow my Windows XP Pro laptops to roam between the two access points without having to manually select the access point they are closest to. Should I have configured bothaccess points to have the same network (SSID) ID? Can anyone give me a summary of how I should set this up? It is the simplest possible roaming scenario: two access points. Thanks.