yes, here's a simple configuration
Your two routers
Router A & Router B
connect Router A's internet port to your high speed modem
connect port 1 from Router A to the internet port on Router B
Setup Wireless access on both routers and you are done.
This is not the most optimal configuration and in some cases having a network within a network may cause connectivity issues which most ISP's won't deal with because they will simply tell you unplug one router. So if you run into trouble, you're kinda on your own.
Some routers actually have the option to work as a WiFi access point only (no DHCP) which would be preferable. You can also get a Wireless repeater which can extend the range of your wireless network.