I don't understand why Nick is using margin-left: 200px; instead off floating the other div to the left or right, I've just tweaked his markup, you can use float for both elements instead of using margin-left.
Demo
#main {
margin: auto;
width: 400px;
}
#sidebar {
width: 100px;
min-height: 400px;
background: red;
float: left;
}
#page-wrap {
width: 300px;
background: #0f0;
min-height: 400px;
float: left;
}
.clear:after {
clear: both;
display: table;
content: "";
}
Also, I've used .clear:after which am calling on the parent element, just to self clear the parent.