there are about 4500 different docuements covering HSRP and other first hop redundancy protocols available at cisco.com.
First thing, you will need a means for the two routers to share a common subnet, some sort of switch between the two.
Second, based on the version of code you are running, consult the appropriate configuration guide for the specifics.
here is a sample of the document you need:
http://www.cisco.com/c/en/us/td/docs/ios-xml/ios/ipapp_fhrp/configuration/15-s/fhp-15-s-book/fhp-hsrp.html