Most devises that you buy now are auto configurable. That means you check a box and they just work. DHCP is a way to assign IP's to machines so they can talk to one another. An IP is like a phone number for a computer. Without it, you can't talk to the computer unless you are directly attached to it. Once a machine has an IP it can then talk to the rest of the world.
With a router, it assigns IPs to all machines that request one for it. The IP's will ussually be 192.168.1.xxx These adresses are private to you. They don't route over the internet, so they are used cause they are safe.
as far as documentation goes, you can check any manufacturer web site for info. they all have details on this stuff.
If you don't use DHCP you will have to hard code the IP on each machines NIC. This will enable comunication between the machines. Otherwise, its like they are not wired at all. XP does provide an automatic addressing utility that will run on a machine if it senses a connection without a DHCP server. So if all your machines are XP then you don't have to worry about it.
If you need more details, just ask. I'm rambling and it's time for lunch...