To use two 12 volt batteries in a 24 volt system they must be wired in series. For this explanation I will refer to them as battery #1 and battery #2.
This answer describes the wire connections for a vehicle with a negative ground electrical system.
The cable from battery#1 Negative terminal connects to ground (Frame or engine block).
The cable from battery#1 Positive terminal connects to Battery #2 Negative terminal.
The cable from battery#2 Positive terminal connects to Starter solenoid.
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