How do I get two wireless routers to talk to each other?

I'm curious, how does one set up two wireless routers to communicate with each other effectively? Is it a complex process, or can it be achieved through simple steps? I've heard of bridge mode and WDS, but I'm not sure which method is best suited for my needs. Are there any specific requirements for the routers to be compatible with each other? Also, what are the benefits of having two routers working together, and what potential drawbacks should I be aware of? I'd appreciate any guidance you can provide on making this setup work smoothly.