Enhanced Interior Gateway Routing Protocol (EIGRP)

R1

 config terminal
 router eigrp 1
 network 172.16.13.0
 network 172.16.164.0
 network 192.168.5.0
 end

R2

 config terminal
 router eigrp 1
 network 172.16.13.0
 network 172.16.10.0
 network 192.168.6.0
 end

Testing

 show ip eigrp neighbour
 show ip route