How to connect to the self-hosted MongoDB using Compass if I have the DB on the server that inside other server?

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Hello. So basically, I have 2 servers:

  1. Where NodeJS placed;
  2. Where Self-hosted MongoDB placed;

All I want is just to connect to the MongoDB using Compass and not entering the first server and then second one and then use the MongoDB with the Shell. How I can do that?

Thanks for any help!!