Comcast does NOT block any sort of router, they could care less is you're running a single PC or 10 behind a router. They do, however, limit you to one active system at a time at the modem level (unless you pay extra) and in order to install your router, you will need to reset the cable modem. In the case of the Arris telephony modem it's not sufficient to simply remove the power cord since the modem has an internal battery backup power system. To reset the Arris, there is a little pinhole button on the rear of the device marked Reset, press it with a pointed non-metallic object like a toothpick or pencil tip. This is wipe the modem's internal MAC table and allow it to recognize a new device, in this case the Netgear router. An alternate method to reset the cable modem is to remove the battery pack.
And since you had the router hooked up at another ISP, I recommend you reset it to factory defaults to start from a nice, clean slate. Then reapply any custom settings like password, SSID, encryption settings, MAC filtering, etc.