and use the DHCP server from your Domain controller. It will already be running DNS, and adding DHCP should be no issue if you are small enough to only need 1 DC.
This is all assuming you are using Windows.
If you are using a *nix OS, I would still take DHCP off the router and install the role on a stand alone machine to allow greater flexibility such as reservations based on mac, mid-range exclusions, and more robust performance.
In either case, the Server IP needs to be excluded from the DHCP range, yet on the same subnet.
If you are using the DHCP from the router, you will need to configure its address pool to not use a range of addresses. Most routers do this based on either a start/stop address and a network mask, or on a network address, network mask and exclusions.
Example:
Start address 192.168.1.10, 255.255.255.0
End Address 192.168.1.240 255.255.255.0
This will give you 9 (.1 - .9)static addresses before the DHCP pool and 14 (.241 - .254) following it. (.0 being the network address and .255 being the broadcast.)
You could use the first 9 for routers/switches and printers and the last 14 for servers etc...
OR
dchp pool 192.168.1.0, 255.255.255.0
exclude 192.168.1.1 - 192.168.1.25
which would give you 25 static addresses.
You can do multiple exclusion ranges in most cases.