RB3011UIAS backup configuration / 2 routers working as one

Hello,
We have 2 Mikrotik Routerboard 3011UIAS working in one local network. We have 5 public IP addresses from ISP.
What we want to create looks like:
each of the routers works on one assigned IP address, but when one of them stops responding (falls off, disconnects the cable, etc.) the other automatically assumes its tasks working in the same configuration, providing the same services (DHCP, gateway, etc.)
Possibly if there is such a configuration that the given routers works like one (something like WiFi Accesspoints).

VRRP is what you need:
https://wiki.mikrotik.com/wiki/Manual:Interface/VRRP
https://wiki.mikrotik.com/wiki/Manual:VRRP-examples

And a small presentation on that:
https://mum.mikrotik.com/presentations/AE12/lorenzo.pdf