First, the geth client needs to be started on the first node using the following command:
$ geth --datadir .ethereum/privatenet/ --networkid 786 --maxpeers 5 --rpc --rpcapi web3,eth,debug,personal,net --rpcport 9001 --rpccorsdomain "*" -- port 30301 --identity "drequinox"
This will give the output similar to the following:
Once this is started up, it should be kept running, and another geth instance should be started from the Raspberry Pi node.