Forum Thread: From Compromised Router to Computer

Hi the title kind of explains my question? I don't really understand and I haven't been able to find good info if any at all on google about from going to a compromise home router to compormising all systems on the network.....what are the steps in making this possible? I know I can send out arp request from the router some how and figure out what systems are connected to the the router, but they would be inside LAN so how would I port scan them? and how do I pivot from the router to the other systems connected to the router??