It depends. Do you want one domain to redirect to the other, or do you want the same content available on both domains?
For the former, just use a rewrite rule to permanently redirect the first domain to the second domain. It's important that you use a permanent redirect (301) or Google will penalize you for duplicate content:
RewriteCond %{HTTP_HOST} ^myfirstdomain\.com$
RewriteRule (.*) http://myseconddomain.com$1
The latter is much harder because WordPress expects a "main" domain for each blog, and it's not something you would want to do for SEO reasons because Google will see two pages that are exactly the same in two different spots.
You can map multiple domains to the same blog but WordPress will always redirect them to the primary domain.
You can proxy the requests from bar.foo.com to foo.com (just don't map bar.foo.com in WordPress):
RewriteCond %{HTTP_HOST} ^myfirstdomain\.com$
RewriteRule (.*) http://myseconddomain.com$1 [P,L]
I've never tried this so it might not work without problems. Either way, it's a really bad idea to do this for so many reasons.