It depends on how much you want to spend. The cheapest setup would be to run a wire off the back of the alternator to the house batteries with an on/off switch in the line. One problem with this is you must remember to turn the switch on and off as necessary. Also, depending on the type of starting battery and house batteries, the alternator my not supply the proper charge to the house batteries.
A battery isolator between the alternator and the house batteries will charge the house batteries and isolate them from the starting battery preventing the starting battery from draining down. Again, this setup may not give the proper charging profile for you house batteries.
Another option is a 12 volt to 12 volt marine charger. This charger is connected to the starting battery and will automatically and properly charge your house batteries. It also isolates the starting battery and house batteries.
I've done all 3 systems and find the 12V to 12V marine charger works best for me. I have a ProMariner charging two Full River 6 volt AGM batteries.
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