I just realized how to specify this test case dependency in Selenium using test suites. Just need to reference the test case without copying it's execution code:
<td><tr><a href="<path>\authentication_test_case.html">Step 1 - Authentication</a></td></tr>
<td><tr><a href="<path>\application_feature1_test_case.html">Step 2 - Application Feature 1</a></td></tr>