asterisk users - Mar 2007 - Connecting two asterisk server.

Sir,

I want to conact two asterisk server to communicate each other and i want to 
make all outgoing call perform only one server for example i have two server 
A and B i have attach TDM02B card on server A. first i want to connect both 
server. second i want to make all outgoing call perform by server A suppose 
if the user of server B want to call outside than call perfrom from server A 
because server B having no PSTN line all PSTN line are on server A.

is it possible if yes please explain step by step i am working on SIP 
protocol.

server A and server B running fine without connecting each other.

Rajeev.