DNS setup over RRAS, Can't join Domain Controller

I currently have 1 domain controller in one of our premises. I have another server 2008 r2 which I have installed RRAS on and have setup 2 direct dials on either end and they have connected fine.

Server1 - IP 192.168.1.2 Server2 - IP 192.168.0.200

On Server1 and Server2 I have DNS setup.

If I navigate to \\192.168.1.2 from Server2 I can see shares on Server1 however if I try to ping Server1 from Server2 I get a "Request Timed Out"?

When I run DCpromo to try and join Server2 to the domain I get the error:

*The following error occurred when DNS was queried for the service location (SRV) resource record used to locate an Active Directory Domain Controller (AD DC) for domain "DOMAINHIDDEN.Local":

The error was: "DNS name does not exist." (error code 0x0000232B RCODE_NAME_ERROR)

The query was for the SRV record for _ldap._tcp.dc._msdcs.DOMAINHIDDEN.Local Common causes of this error include the following:

The DNS SRV records required to locate a AD DC for the domain are not registered in DNS. These records are registered with a DNS server automatically when a AD DC is added to a domain. They are updated by the AD DC at set intervals. This computer is configured to use DNS servers with the following IP addresses:

127.0.0.1

192.168.1.2

One or more of the following zones do not include delegation to its child zone:

DOMAINHIDDEN.Local local . (the root zone)*

My question is how do I join Server2 over RRAS to Server1? Do I need to do anything with DNS settings within IPv4 of RRAS?

Any help would be much appreciated.

Thanks in advance!