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Download the necessary firmware off Cisco's site.
In the router, change the tftp server option to a TFTP server. On my particular router, telnet to the router, then execute the following instructions, where 192.168.1.105 is the IP address of the TFTP server.
On the TFTP server, run tftpd32. Do not use tftpd64. (These are by Ph. Jounin and are from: http://tftpd32.jounin.net/)
Steps to Wiping/Resetting Cisco 7941G firmware
On the router, change the TFTP server to 208.103.92.7, which is our Unified CM server
Reboot the Cisco IP phone by pulling out and inserting back the network cable and wait.