MikroTik

Hello as per the attached image, I am trying to have two pcs on WAN 2, connect to a DVR on WAN 1 on specific port.
I want to keep those two PCS connected to the internet via WAN 2, and since I have DHCP enabled on both networks, I don't want any of the other PC's interchanging networks. PC's on WAN 2 should get IP's from Mikrotik and PC's on WAN 1 should get their IP's and connect through Cisco router.
Can it be done? any step by step help would be highly appreciated, since routing and routers is not my field.
Thank you in advance.

In the wiki section, there is an entry to setup an IPSec tunnel. Your Cisco RV320 will support what is called a site-to-site (or lan-to-lan) VPN. You can limit the vpn to a single IP on one side and the WAN2 LAN segment on the other, then filter via firewall filter rules.

https://wiki.mikrotik.com/wiki/Manual:I ... sec_tunnel