How to interconnect Panasonic PBX with Yeastar PBX

[IvanAVM]

I have Panasonic KX-NS500 with both SIP trunk and extension license and Asteriks based PBX Yeastar S412.
I want to interconnect with Yeastar S serieas so when we dial on Panasonic 0xxx that will dial on Yeastar xxx extension.
Also when dialing from Yeastar to dial Panasonic extensions.

What is the best way to achieve this?

 

[inlsp05]

you most do it on other pbx code

PG4E

 

[obtsystems]

You will need to use a gateway or have sip extension to trunks on the yeastar