Need help configuring two wireless routers on one network

We have Verizon FiOS here, and since the wireless capabilities on the router supplied by Verizon are not all that great, we use a Dlink DIR-825 in addition to the FiOS router.
The problem is I can’t seem to get the wireless to work on the Dlink without it’s DHCP set to enabled, but enabling DHCP on the Dlink prevents gaming between computers connected to different routers.
Wired LAN currently works perfectly on the Dlink, but not wireless LAN (I get an autoconfiguration IP address if I use WiFi).
At the moment, the two routers have different SSIDs, but I also tried having them both run on the same SSID, however that broke WiFi all together.