assume the following config is yours:
192.168.1.1 / 255.255.252.0 is the static ip of the root-forest dc
dns settings are config'd with forward and reverse lookup for the r-f dc (verify with nslookup)
the second wk2 server is in default install (stand-alone server) with static ip address of 192.168.2.1 /255.255.252.0
in your tcpip properties > SET THE PREFERRED DNS SERVER TO 192.168.1.1 (not 192.168.2.1 - can be done later)
i prefer to join the second "stand-alone server" to the root-forest BEFORE i config AD / DNS, etc. prior to joining, make sure that Administrator user on r-f dc has domain admin privileges as this is default for adding user / computer to domains. (i like to create a new user and give that user enterprise admin privs as this is considered "super privs" across the entire domain).
begin joining of 2nd w2k server to r-f dc, when it prompts for user use the acct you created (super privs acct) and all should go well.
after joining setup AD / DNS / DHCP, etc.