But don't bridge unless you have to. When in doubt, route.
VLANs are just like physical networks, only they can exist on the same wire.
http://en.wikipedia.org/wiki/Virtual_LAN
Read that, and if you don't understand it, click on all the links to learn about the terms used to explain the concept of a VLAN.
So to communicate on layer 3 between two VLANs you have the router route between the VLAN interfaces, which it will do just fine and out of the box. They appear as normal interfaces, and the router doesn't care that they are not physical. They are incredibly useful and it's worth spending the time learning how they work. Once you understand them and have gear that can use them it's trivial to split all management traffic off from customer traffic, for example, and prevent that customers can even see a login page to your AP - even when you just have one single wireless or wire link to a specific location.