Reloading IOS on Cisco 1700

Hi

I have lost the flash memory in my Cisco 1751 router. I am trying to set up and copy the bin file from another identical router. can someone please help refresh my memory on the steps to setting up and using tftp to copy from the routers flash memory to my computer so I can then restore the file to my non working router. I am running Win XP with NTFS file system on my computer and connecting with Hyperterminal through the console port on the working router.