the second router must have disabled dhcp
they should be connected via a cable, one to the other via the lan ports, not the wan ports,
one router must be connected to the modem via the wan port, the other router must be connnected and must have disabled dhcp, connected via a ehtenrnet cable form point 1 o point 1 in the lan ports in the routers
if you try to do it via wifi, it is a different process, you might need to read the asus manual on how to do it