70-290 Network Question

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I have started studying for the 70-290 and followed the book and created a server called Server01 and a domain called contoso.com i set up another server but when I try and add it to the contoso.com domain it says:
"A domain controller for the domain contoso.com could not be contacted"

I am able to ping Server01 but how come I can not join server02 to the contoso.com domain?

Sorry if the answer is obvious

 

That worked cheers

So now I have another question for you, why did dropping the .com make it work? As when I look now it says it is part of the contoso.com domain and at work when I add PCs to the domain I add them by adding *companyname*.local and i have to use the .local.

 

Think you might need to set DNS on Server02 to the Ip Address of Server01, I'm assuming DNS is currently set to your router via DHCP ?