I did a setup like this at an auto dealership where they wanted to go over the existing corporate net via T1 to get to internal servers and go over a new DSL link to get to the general internet. To make things simple, both routers must be on the same local subnet (e.g. 192.168.1.1, 192.168.1.2).
You have to know the net address space used by the corporate net (e.g. 10.10.10.0) and the subnet mask used by the target corporate network. A static route is then added to each workstation so that requests to the corporate address ranges get directed to the corporate T1 router. In the XP network adapter IP settings, you would use address of the DSL router as your default gateway and use your DSL ISP's DNS server addresses.
To add a static route, go to a command prompt (Start - Run - cmd) and type route which will display the syntax of the command as well as examples. Don't forget to add the -p argument when typing the route command or the static route will disappear when you reboot the machine.
Another potential source of difficulty is DNS. There is a good chance that the DSL ISP's DNS servers will not have entries for internal corporate servers, even if they are not using private addresses.
You can find out these addresses before adding the DSL router by pinging them from a command window (e.g. ping corpserver1.com ) and recording their IP addresses. Don't forget the corporate mail servers.
These can then be added to the hosts file in \windows\system32\drivers\etc - since Notepad has this annoying habit of adding .txt to files that are edited, do this instead:
Start - Run - cmd then type cd\windows\system32\drivers\etc
Then type edit hosts
Add your host entries at the bottom of the file, following the syntax in the examples. Use the tab key to provide the space between the columns. Save the file and exit the Edit program.
In this way, the corporate servers' names will resolve via the hosts file and all internet hosts will resolve using the DSL ISP's DNS servers.