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

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Last Modified: 2015-03-03
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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