|SATA drives do not use jumpers, they are used on IDE/EIDE drives.|
If they are both SATA drives, and the second one is new, just install and format (windows can do it or use the mfg. software) If it is from an older machine, it would be best to format it anyway unless you need to recover data from it first.
If the second one is EIDE and your mother board supports both types, and you have no other EIDE devices, set it to either master or single drive. If there is another device on the same wire, set the closest device to master (preferably the hard drive) and the further one to slave.