That modem should work with most wireless routers. I would go with a d-link, myself. The motorola seems to be a popular modem, and I couldn't find a list of any known issues with it, and any of the available brand routers. The cable modem will plug directly into the router.
The router accepts a wired/wireless connection from a computer. If the computer is right next to the router, than just take the cable from the computer, and plug it into the router.
If the computer is a long distace away from the cable router, you'll need a card, that plugs into the computer, and transmits a signal to the router. A wireless network card.
You should be able to buy a complete kit, that includes the card, router, and cables. It will also contain instructions on how to connect the computers to the wireless router. This would probably be the best option, if you can find it. d-link has a kit on the market that is pretty nice. The card is a USB card, so no need to open the computer to plug it in.