The alternator in your vehicle produces dc power to charge the starter battery in the vehicle. All you need to do is use that.
Modern vehicles don't have a high enough output, so you need a special dc to dc charger, but for older vehicles that output 14.4 ,14.8 v then you can use that.
Ideally you should use a dc to dc charger for optimal charging, but if you can get a hold of a cheapish deep cycle then no need to get to fussed about it.
Often you can find second hand deep cycle batteries on ebay from decommissioned UPS units that banks etc run.
I got some 100ah for $75 each. So at that price if they don't get optimal charging rates that potentially limit their life then I really don't give a stuff.
So if you have an older than 2015 vehicle or so your alternator should put out a decent voltage you can use. In that case a VSR or voltage sensitive relay can be used, that is hardwired to the vehicle, it charges the starter battery first, when that reaches full power it switches power to the secondary battery and the alternator will charge that till it is full too. That is what I have, the 100ah in the back has anderson and cigarette connectors to draw from it. Last weekend when I used a separate battery sitting in the tray I connected it via the anderson connector to the aux battery hardwired in the tray to charge that up, basically when the vehicle is started, if it senses a low voltage in the system it will start pumping out power.
One very very important thing to do is have fuses at the junction of any battery, or connection with any device. If unsure get an auto elec to inspect.