routing – Can I make a router “transparently” pass a subnet?

Sorry if the title is misleading, not sure how else to describe it. Given the following (simplified) diagram:

Is it possible to make the client attached to the secondary switch that is assigned the static IP 192.168.2.3 traverse the secondary router, such that it behaves as if it was attached directly to the primary router/LAN? I would need for the 192.168.2.2 client attached to the Main Switch to be able to ping/communicate with the 192.168.2.3 client on the secondary switch as if they were on the same switch.

Thanks,
Casey