You won't connect these interfaces for the simple fact is that they are on different networks.
Each router should have at leave 2 interfaces in them. On the main router interface 1 should be connected to the PIX. Interface 2 should be connected tothe WAN connection (frame, T1, T3, etc...). On the remote router interface 1 should be connected to the local network, and interface 2 should be connected to the other end of the WAN connection. Both interfaces connected to the WAN should be in the same network (example: 10.5.4.1/28 for the main router, 10.5.4.2/28 for the second, 10.5.4.3/28 for the third, etc...).
You can use what ever subnet mask you would like. I chose a 28 bit 255.255.255.240 because you only have a total of 10 hosts. A 28 bit mask will give you a toal of 14 hosts, but if you are going to add more remote sites in the future you may want to plan ahead. I also chose 10.5.4.0 because I'm assuming that the 10.5.2.0 is the same IP Address range on the HQ site, and the 10.5.3.0 is the romate LAN network.
Now because each of the WAN interfaces are on the same network you should be able to ping from 10.5.2.1 to 10.5.3.1, and vice-versa. Don't forget to set up the routes for this. There are quite a few chains of thought of setting up a routing protocol over static routes. It is truely all up to you. Just remember that anytime you use a routing protocol you will be sending traffic over the wire even when there is no user traffic.
Good luck