I have a Mikrotik router with an interface connected to a Cisco switch
the interface between the Mikrotik and switch has two IP addresses 2.2.2.1/24 and 192.168.102.1/24
This switch has two VLANS 102 and 2004
I don’t know how connect those two together ? the other side of the switch has Cisco router with router on a stick for the same network 2.2.2.2/24 and 192.168.102.2/24
but when I configure the port on Cisco switch to access vlan 2004 then the Cisco router can’t see the IP 192.168.102.1/24 on the Mikrotik
2.2.2.0/24 for VLAN 2004
192.168.102.0/24 VLAN 102
Which configurations do I need for both Cisco switch and Mikrotik interface with the Switch
You can go through this tutorial to get idea about how VLANs are configured on Mikrotik. You did not mention which particular MT device type you’re trying to configure so it might be that the way of configuring explained in linked tutorial will not be the fastest one, most of MT devices support VLANs in hardware (but configuration is different and details depend on device type).
For starters, follow the guide I linked. Your device has a fairly nice switch chip built in and you can change the setup later on to facilitate switch chip functionality if the performance of RB951U will not be good enough.
Just configure multiple tagged VLANs on single port … that’s what trunk port is all about. And such concepts are mentioned (if not explained) in linked tutorial.