Dual Routers: Connect from one network to another (Home Networks)

Background Info:

I have 2 routers, and 2 networks at home.
They are both Linksys routers.
One is 2 years old (lab network), the other is brand new (home network).
One is for regular everday use for my computer(s), ipad, iphone, etc.
The other is for my home lab network.
Home Router01: 192.168.1.1
Lab Router02: 10.1.10.1
Lab is 2 physical servers (HP DL380, HP DL360) running ESXi 5.5 on each.

Router02 is "daisy-changed" off of Router01 and is WORKING great.

Question:

 How do I get my computer to connect to my lab network, from my home network (via LAN cable)?
I really don't want to have to keep flipping the LAN cable back and forth between the two routers.
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ITAddictAsked:
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Fred MarshallPrincipalCommented:
Yes, it appears that they are doing what you want but the setup is a little different than I described earlier.
In this case, the downstream router is being used in Router vs. Gateway mode (non-NAT vs. NAT).  
Then, the downstream router is set up to route between the WAN and LAN and between the two subnets.
(I must say that I don't like that article very much.  I see too many errors or, at least, questions there).

You set Router02 in Router (or No NAT) mode.
You give Router02 a static IP address on the WAN.  Something like 192.168.1.2
You add a static route in Router01 that points to the Router02 LAN 10.1.10.0 / 255.255.255.0 with the gateway entry of 192.168.1.2 from above.

Now any IP address in 10.1.10.0 can be addressed from LAN01 because the gateway router there (router01) has a static route pointing to the Router02 WAN address.
And, any IP address in 192.168.1.0 can be addressed from LAN02 because the gateway router there (Router02) has a direct route because its WAN on on the LAN01 subnet.
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Fred MarshallPrincipalCommented:
I can think of a couple of ways to do this.  With Linksys routers, the first method may not work but I mention it at least for completeness.

First, the network diagram:

(internet) <>[internet interface]<> WAN of Router 01 [ 01] LAN of Router 01 <> WAN of Router 02 [02] LAN of Router 02

Correct?

Method 1:  Use routing to get it to happen.
First of all, computers on LAN02 should be able to see computers on LAN01 because Router02 has a route to that LAN.
But, computers on LAN01 can't see computers on LAN02 without a route.
You may be able to put a route on your computer (if there's only one that says:
10.1.10.0/24 go to 192.168.1.xxx where 192.168.1.xxx is the WAN address of Router02  as in:

route -p add 10.1.10.0 mask 255.255.255.0 192.168.1.xxx

Or, you may be able to put a route on Router01 that says the same thing:

10.1.10.0/24 go to 192.168.1.xxx where 192.168.1.xxx is the WAN address of Router02.

Method 2: Add a NIC to your computer with a LAN02 address (and no gateway address) and cable it into LAN02.

Method 1 takes no additional hardware.  Only some settings.
Method 2 takes a bit of hardware and doesn't rely on settings quite so much.
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ITAddictAuthor Commented:
Thank you! But just to be clear and make sure I am understanding you correctly.
I found this artical, which looks exactly like what I am trying to do with two Linksys routers:

http://kb.linksys.com/Linksys/ukp.aspx?pid=80&vw=1&articleid=17589 

Would you mind breaking it down for me (Fill in the blanks of the static rout settings in the attached images)

Router01 - Advanced Rout Settings
Router02 - Advanced Rout Settings
Router01 (192.168.1.1)


Router02 (10.1.10.1)
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