Synchronize DNS across WHM and VestaCP

Hello. Currently we have 2 VPS servers:

• VPS + WHM/cPanel - holds the nameserver (ns1.domain.com/ns2.domain.com)
• Centos 7 VPS + VestaCP - domain.com is pointing in WHM/cPanel server to VestaCP server IP address

Basically what I want is - if new client points his domain.com name to ns1.domain.com/ns2.domain.com, we want it to automatically route/set all DNS records to VestaCP instead of WHM/cPanel server where the nameserver is running. I am wondering, how or what's the best way to synchronize DNS records accross these two servers or how can we point domain in WHM to ther other VestaCP server?