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Communication, communication, communication.
Spend lots of time at each site, preferably without a rigid schedule.
If it's practical, ensure everybody visits the site at which they do not normally work and meets all the people. A major part of your job is maintaining the feeling of one team.
Distribute the job evenly between the teams, conduct review meetings in order to know the issues facing for executing the job.Sort the issues as early as possible by any means, ready to work beyond office time.