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You shouldn't need the install CD supplied by Virgin Media (ntl:telewest).
I'm assuming that you already have one PC working OK via your cable modem, and you connect using ethernet cable (not USB).
Power off the computer and modem.
Plug the ethernet cable from the modem, into the WAN port of the router. Plug an ethernet cable from a LAN port into computer 1, and a second ethernet cable from a different LAN port into computer 2, power up modem, then router, then PC and you should all be set up.
You do not have to go wireless. Wireless is only of benefit when you don't want bits of ethernet cable trailing round your house, or if you've got a wireless based laptop that you want to be mobile with.