It is very easy to configure 2 routers to ping router A from B, i'll try to explain.
First, you gotta understand what a DCE or DTE means, normally, router acts just as a DTE device, and the DCE device its that one that gives the clocking as an example a modem, the computer communicates with the modem, the modem gives the clocking (i.e. 56k) to setup a connection with the responding modem and then again the responding modem is connected to the responding computer.
working with routers its about the same, but when working on a lab, things changes, when you're about to connect two routers direct via a serial cable, one of the routers has to be the DCE device, with a DCE type cableand the other router with a DTE cable will be the DTE.
The DCE gives the clocking (again) so the router's serial interface with the DCE cable attached must have the clock rate configured (clock rate 56000). For easy understanding i think, it is usual to connect the DCE cable to the S0 and the DTE to the S1 but it does not really matters.
Once you've completed the layer one connection you have to setup the layer 3 protocols(IP or IPX) on your router's interfaces, you don't have to use RIP to communicate with other router directly connected but you can if you want to for any lab practice reason.
because English its not my native language i'll give you an example to try to make it easier to understand.
Router A: (commands)
enable
configure terminal
interface S0
ip address 192.168.0.1 255.255.255.0
clock rate 56000
description this is the dce end of this lab
no shutdown
Router B: (commands)
enable
configure terminal
interface S1
ip address 192.168.0.2 255.255.255.0
description this is the DTE end if this lab
interface e0 (or maybe f0/0 depending on the router)
ip address 192.168.1.33 255.255.255.224
no shutdown
after doing this simple configuration you should try this command ant the priviledged mode to find that directly connected interfaces creates a route automatically:
sh ip routes (on router b) and you'll see a route to the network 192.168.0.0/24 and 192.168.1.0/27
now you should be able to ping the ip address 192.168.0.33 (router b's ethernet address) from the router A, its that easy.
hope it helps,
Jose Paez
CCNA
