Linksys and DLink are the 2 most common. There really is very little difference between the two of them. Get one with a 4 port switch built in so you don't have to worry about an extra hub. I am a network admin for a living, and what everyone has said here so far is true.... ANYONE can set these things up... they are very simple... OK, I lied, my uncle couldn't set one up... but he's a moron... nevermind that...
The router will hand out addresses to the 2 PC's via DHCP. And the router's WAN connection will receive the IP address from your cable ISP. Before you know it, you'll both be online.