Finding network security keys

I'm quite the novice, so please have patience.
I'm trying to add two laptops to my home wireless network, and I have lost my security key.
What is the best/easiest way for me to find my security key?
I have my wireless connection on a Dell desktop (running XP) and use a Westell DSL modem (thru AT&T/Bellsouth) using a Linksys Wireless-N Broadband router.
Any help that anyone can provide would be greatly appreciated!
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