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Let there be a custom gate (simply called gate that takes $N$ qubits as input. Also, let $A$ of those qubits be in first_register and $B$ of those qubits be in second_register ($B = N-A$, obviously). Both registers are QuantumRegisters.

How to append this custom gate to circuit, like what to write in circuit.append(gate, HERE).

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You can simply merge the lists of qubits from two quantum registers or more as any python lists using "+" sign. For example

gate = UnitaryGate(random_unitary(2 ** 4).data, 'RND-U16')

qr1 = QuantumRegister(2, 'q')
qr2 = QuantumRegister(3, 'a')
circ = QuantumCircuit(qr1, qr2)

circ.mct(qr1[0:2] + qr2[0:2], qr2[2])
circ.append(gate, qr1[1:2] + qr2[0:3])

The result:

enter image description here

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