M4100 vlan/routing help

Hi Netgear network experts,
  I am looking for some help with configuring a M4100-D12G. I've figured out how to configure vlans but I can't figure out how to get the traffic to route to my internet connection. Here's my setup.

1) This is the Internet connection I currently plug my PCs into. Internet <-> cable modem <-> Netgear r7200. The r7200 is configured to provide DHCP in the range of 10.0.0.100 - 10.0.0.200 with subnet mask 255.255.255.0. I'd like to keep this part of the setup unchanged if possible.

2) I have a M4100-D12G that is configured for vlan10 (port 2 and port 3) and vlan 20 (port 4 and port 5). I also want vlan10 and vlan20 to provide DHCP 192.168.10.x (for vlan10) and 192.168.20.x (for vlan20). No IP or DHCP or routing has been configured for these vlans and I think this is where I need help.

3) I want to connect the r7200 to port 6 (M4100-D12G) and provide Internet access to vlan10 and vlan20. I don't want a PC on vlan10 to talk to a PC on vlan20.

My questions are as follows:
a) Are there any negative issues with this setup that I should be aware of?

b) Can someone please help me complete this configuration with as much detail as possible. My guess is that i have to setup vlan30 and associate with port 6, with an IP, but no DHCP (since the r7200 is providing DHCP). Do I then set the default route for vlan10 and vlan20 to vlan30? If this is the answer, can someone please provide some guidance on how to configure some of the above.

Thanks!