Lightning Component redirect to Lightning Component

Hello,

I am able to redirect from a lightning component to another lightning component using:

<c:SecondLighningComp recordId="{!v.recordId}" />

But I cannot redirect to second lightning component on click of a button.

<lightning:button label="Click me" variant="brand" onclick="{!c.handleYes}"></lightning:button>

function:

handleYes: function(component, event, helper) {
          var urlEvent = $A.get("e.force:navigateToComponent");
          urlEvent.params({
               componentDef: "c:SecondLighningComp",
                componentAttributes: {}
          });
     urlEvent.fire();
}

The second component calls an apex class that uses ApexPages.currentPage().getParameters().get.(Multiple record values) which is returning null. I cannot change anything in the apex class.

How to approach this?

#Salesforce Developer