On pfSense Firewall you will need:
a) System->Routing, add a gateway pointing to the Router.
b) Routes - add static route/s to the subnets behind router, pointing to the router gateway IP.
c) Firewall->NAT, Outbound. Select "Manual Outbound NAT". Add NAT rule/s to NAT traffic from the subnets behind router, onto WAN.
d) Firewall->Rules, LAN - make sure there are pass rule/s to allow traffic with source = subnets behind router.
Post details of your subnets, gateways, static routes, Outound NAT rules and Firewall LAN rules if you still have a problem.