Solved: Two Routers Connection Issues

Folks, hope you can help point me in the right direction on what I'm missing out here.

I have a setup of 2 routers:

Router1:
WAN IP: 170.x.x.x (connects to the Internet)
LAN IP: 192.168.1.1

Router2:
WAN IP: 192.168.1.2
LAN IP: 192.168.0.1

I have PCs in both the 192.168.1.x and 192.168.0.x segments. All PCs do not have any problems accessing the Internet.

The problem I am facing is that PCs in Router1 cannot access PCs in Router2. Conversely, PCs in Router2 have no problems in accessing PCs in Router1.

I was initially thinking the solution is to add a route definition in Router1: Route 192.168.0.0/24 through 192.168.1.2. But this is not working...Router1 PCs still cannot ping/see Router2 PCs. Been pulling my hair trying to get with no success at all.

Incidentally, from a PC in the 192.168.1.x subnet, doing a traceroute to 192.168.1.2 (Router2's WAN IP) doesn't work, but ping to 192.168.1.2 works. Not sure if this makes sense.

Please anyone can help shed some light on this? Thanks.