@vskus 

In router 2 configure a port forwarding rule for IP 192.168.2.101 for whichever port that IP uses depending on the service: https://www.tp-link.com/us/support/faq/1541/

So say for example I wanted to access the device behind router 2 via port 8080. I would make the following port forwarding rule in router 2:

Service Type: name it anything
External Port: 8080
Internal IP: 192.168.2.101
Internal Port: 8080
Protocol: TCP

Then when on a computer in router 1, you would use the IP router 2 got from router 1 (let's assume router 2 got 192.168.1.100). I would open my web browser and use:

192.168.1.100:8080

You use the IP router 2 got from router 1 followed by the port you forwarded in router 2.