One domain - two web servers

I have one domain : let's say domain.com
server A (xx.xx.xx.xx) is currently hosting the main website www.domain.com

I would like my server B (yy.yy.yy.yy) to host www.domain.com/page2 and all the sub ones : http://ift.tt/1rLaCFr

Apache/CentOS on both with two routable IP addresses

Is there a correct way to do it ? I'm also confused about dns records in this situation.

Any help would be appreciated. Thank you.