You could append the one executable onto the end of the other and write some code to unpack it to a temporary folder.
I've done a similar thing before but with a configuration file and some bitmaps appended to an EXE in Windows. The way I did it was to firstly append my stuff onto the end of the EXE and then write a little struct after that which contains the file offset of the data which in your case would be the offset of the 2nd exe.
When running your app, seek to the end of the file minus the size of the struct, extract the file offset and copy the 2nd exe to a temporary folder, then launch it.
OK, here is a little more details as requestd. This is some pseudo-code to create the combined EXE. This is a little utility you run after compiling your main EXE:
Open destination file
Open main exe as a binary file
Copy main exe to destination file
offset = size of main exe
Open 2nd exe as a binary file
Copy 2nd exe to the output file
Write the offset to the output file
Now for the extraction procedure. This goes in your main EXE:
Find the location of our own EXE file (GetModuleFileName() under Windows)
Open the file in binary mode
Seek to the end minus sizeof(offset) (typically 4 bytes)
Read the offset value
Seek to the offset position
Open a temporary file in binary mode
Read bytes from the main EXE and write to the temporary file
Launch the temporary file