Joining a domain with several windows server 2008 instances running on virtual box

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http://serverfault.com – I'm trying to teach myself Active Directory using the self-paced training kit 70-640 unfortunately my networking and System Administration skills are quite poor and I'm having trouble with Chapter 1 / Lesson 2 / Exercise 2 ! I created 1 virtual machine in Virtual Box "SERVER01", this is the Windows Server 2008R2 domain controller for the contoso.com domain I created a 2nd virtual machine,"SERVER02", which is Windows Server 2008R2 core. However when I try to join the domain using netdom join %computername% /domain:contoso.com it says "the specified domain does not exist or cannot be contac (HowTos)