Because ICS does not work well with DHCP or NAT, running ICS through a router is also not a good idea-- they usually have one or both running.
One of four things needs to happen:
Set up a formal server with your sons' computers as clients. Border router nats, server has static IP and DHCPs, inner router neither nats nor DHCPs.
Turn off DHCP and NAT and pay for the IPS you need as the modem will now see your LAN, and end point protect all your machines-- in order to control you then get to install software on your son's machines.
Set up a network gateway between your modem and the client machines, making it possibly a Linux or BSD box that can control access by IP by time range like a Win2K Server would. BSD can NAT, and can DHCP the clients, and can control the access by time.
Get a heavy duty router and program it so only certain ports can get out during certain timerange, then LOCK the thing up so the young'uns can't unplug your box and plug theirs in when they want to surf as easily.
John Danielson.