Are the two boxes on different network segments? That's not very clear from your post. If they are, then you need to either add a route between the boxes or ensure that the gateway in place is doing that already.

If you already have connectivity, you just need to install ssh on both the servers and you are on your way!

If you have queries about how to get the ssh to work, just search the forums - we have a lot of threads about that.

Cheers!