Connecting 2 internal networks

I've got my main network, and I just added a separate network for IP security cameras. My main network is on a 200.21.1.x subnet. The new camera network is on a 192.168.2.x subnet. I want my 200.21.1.x network to be able to see the 192 network. The 192 network does not need an internet connection. I have a Cisco ASA 5520 that I thought I could use to create a route from the 200 network to the 192 network. I have not had any luck doing this. I don't have to use the ASA if there is an easier way to do this. Could somebody help me out?

Thanks.