Setting up connections between Centos7 server and Ubuntu on Virtual box

Hi Team,
Can someone help me in providing solution to this issue below

I have two servers on a virtual box. One of it is centos7 server and the other one is Ubuntu 18.04. I want to established connections between the two terminal. Please i need someone to help me out.

Thanks

I assume that both servers are guests versus one as a host.

How is networking currently configured on your guests? The following link shows an overview of the different modes and how they connect to other VMs and the lan. It also depends on what you are trying to accomplish and if you want to add a new adapter.

https://www.virtualbox.org/manual/ch06.html