is an Internet protocol for automating the configuration of computers that use TCP/IP. DHCP can be used to automatically assign IP addresses, and to deliver TCP/IP stack configuration parameters such as the subnet mask and default router.
So that's OK then isn't it?
When you set up your router you'll find that it's far easier than it sounds. The HTML page that you'll access to do the setup will walk you through the procedure, and I'm sure you'll have no problems. Neither PC will be a server - they don't even need to be on at the same time. You'll be able to acces the internet from either (or both) of them, as long as the router is switched on.